Selected Publications on Research in Humanoid Robots

RoboCup 2018: Robot World Cup XXII
(Ed. D. Holz and K. Genter and M. Saad and O. von Stryk), Vol. 11374, Springer International Publishing, 2019
(No PDF File) | BibTeX

Florian Reimold
Robust Locomotion of a Humanoid Robot Considering Grasped Objects
Diplomarbeit 2016
PDF file (4.47 MB) | BibTeX

Philipp Schillinger
An Approach for Runtime-Modifiable Behavior Control of Humanoid Rescue Robots
Diplomarbeit 2015
PDF file (15.3 MB) | BibTeX

Achim Stein
Development of a Whole-Body Planning System for Humanoid Rescue Robots
Diplomarbeit 2015
(No PDF File) | BibTeX

Karen Petersen
General Concepts for Human Supervision of Autonomous Robot Teams
July 9, 2013
(No PDF File) | BibTeX

Katayon Radkhah
Advancing Musculoskeletal Robot Design for Dynamic and Energy-Efficient Bipedal Locomotion
June 18, 2013
(No PDF File) | BibTeX

J. Kuhn, S. Kohlbrecher, K. Petersen, D. Scholz, J. Wojtusch, O. von Stryk
Team Description for Humanoid KidSize League of RoboCup 2012
2012
PDF file (1.17 MB) | BibTeX

K. Radkhah, O. von Stryk
Human-Like Model-Based Motion Generation Combining Feedforward and Feedback Control for Musculoskeletal Robots
In: Proc. 7th Annual Dynamic Walking Conference, May 21 - 24, 2012
(No PDF File) | BibTeX

C. Maufroy, H.-M. Maus, K. Radkhah, D. Scholz, O. von Stryk, A. Seyfarth
Dynamic leg function of the BioBiped humanoid robot
In: Proc. 5th Int. Symposium on Adaptive Motion of Animals and Machines (AMAM), Oct. 11-14, 2011
PDF file (1.72 MB) | BibTeX

Jochen Mück
Entwicklung und Evaluation einer verbesserten Verfolgung von Lauftrajektorien für autonome humanoide Roboter
Bachelor Thesis, 2011
(No PDF File) | BibTeX

Sebastian Jakob
Simulation humanoider Roboter in OpenHRP - Modellparameteridentifikation und Bewegungsparameteroptimierung
Diplomarbeit 2011
(No PDF File) | BibTeX

M. Friedmann, J. Kuhn, S. Kohlbrecher, K. Petersen, D. Scholz, D. Thomas, J. Wojtusch, O. von Stryk
Darmstadt Dribblers - Team Description for Humanoid KidSize League of RoboCup 2011
2011
PDF file (1.16 MB) | BibTeX

K. Radkhah, C. Maufroy, M. Maus, D. Scholz, A. Seyfarth, O. von Stryk
Concept and design of the BioBiped1 robot for human-like walking and running
In: International Journal of Humanoid Robotics, Vol. 8, Nr. 3, pp. 439-458, 2011
PDF file (7.21 MB) | BibTeX

S. Kohlbrecher, A. Stumpf, O. von Stryk
Grid-Based Occupancy Mapping and Automatic Gaze Control for Soccer Playing Humanoid Robots
In: Proc. 6th Workshop on Humanoid Soccer Robots at the 2011 IEEE-RAS Int. Conf. on Humanoid Robots, Oct. 26th - Oct. 28th, 2011
PDF file (3.59 MB) | BibTeX

Janis Wojtusch
Development of Electronics and Control for Servo Actuators in Robotic Applications
Diplomarbeit 2011
PDF file (7.9 MB) | BibTeX

K. Petersen, G. Stoll, O. von Stryk
A Supporter Behavior for Soccer Playing Humanoid Robots
In: RoboCup 2010: Robot Soccer World Cup XIV, (Ed. Ruiz-del-Solar, Javier and Chown, Eric and Ploeger, Paul G.), pp. 386 -- 396, 2011
PDF file (1.88 MB) | BibTeX

K. Petersen, O. von Stryk
Towards a General Communication Concept for Human Supervision of Autonomous Robot Teams
In: Proceedings of the Fourth International Conference on Advances in Computer-Human Interactions (ACHI), pp. 228 -- 235, 2011
PDF file (1.98 MB) | BibTeX

K. Petersen, O. von Stryk
An Event-based Communication Concept for Human Supervision of Autonomous Robot Teams
In: International Journal on Advances in Intelligent Systems, Vol. 4, Nr. 3 and 4, pp. 357 - 369, 2011
PDF file (2.31 MB) | BibTeX

Alexander Stumpf
Grid-Based Obstacle Mapping and Gaze Control for Soccer Playing Humanoid Robots
2010
(No PDF File) | BibTeX

K. Radkhah, T. Lens, A. Seyfarth, O. von Stryk
On the Influence of Elastic Actuation and Monoarticular Structures in Biologically Inspired Bipedal Robots
In: Proc. 2010 IEEE International Conference on Biomedical Robotics and Biomechatronics (BIOROB), pp. 389-394, 2010
PDF file (314 kB) | BibTeX

Alexander Hück
Analysis of the communication overhead of complex control applications for mobile robots
Bachelor Thesis, 2010
(No PDF File) | BibTeX

Tobias Becker
Extension of a Multi-Robot-Simulation by ODE based Dynamics-Simulation and its Evaluation
Bachelor Thesis, 2010
(No PDF File) | BibTeX

M. Friedmann, T. Hemker, S. Kohlbrecher, K. Petersen, S. Petters, K. Radkhah, M. Risler, D. Scholz, D. Thomas, O. von Stryk
Darmstadt Dribblers - Team Description for Humanoid KidSize League of RoboCup 2010
2010
PDF file (432 kB) | BibTeX

D. Thomas, O. von Stryk
Efficient Communication in Autonomous Robot Software
In: Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Oct. 18 - 22, 2010
PDF file (401 kB) | BibTeX

S. Kohlbrecher, O. von Stryk
Modeling Observation Uncertainty for Soccer Playing Humanoid Robots
In: Proc. 5th Workshop on Humanoid Soccer Robots at the 2010 IEEE-RAS Int. Conf. on Humanoid Robots, Dec. 6 - Dec. 8, 2010
PDF file (1.55 MB) | BibTeX

J. Kiener, O. von Stryk
Towards cooperation of heterogeneous, autonomous robots: a case study of humanoid and wheeled robots
In: Robotics and Autonomous Systems, Vol. 58, Nr. 7, pp. 921-929, 2010
PDF file (1.32 MB) | BibTeX

Martin Friedmann, Karen Petersen, Oskar von Stryk
Evaluation and Enhancement of Common Simulation Methods for Robotic Range Sensors
In: Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010), Vol. 6472, pp. 63-74, Springer, 2010
PDF file (315 kB) | BibTeX

Dirk Thomas
Middleware for Efficient Programming of Autonomous Mobile Robots
Nov. 19, 2010
(No PDF File) | BibTeX

Dirk Thomas, Dorian Scholz, Simon Templer, Oskar von Stryk
Sophisticated Offline Analysis of Teams of Autonomous Mobile Robots
In: Proc. 5th Workshop on Humanoid Soccer Robots at the 2010 IEEE-RAS Int. Conf. on Humanoid Robots, December, 2010
PDF file (2.96 MB) | BibTeX

K. Radkhah, D. Scholz, A. Anjorin, M. Rath, O. von Stryk
Simple yet effective technique for robust real-time instability detection for humanoid robots using minimal sensor input
In: 13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR), pp. 680-689, Aug. 31 - Sep. 03, 2010
PDF file (3.18 MB) | BibTeX

K. Radkhah, M. Maus, D. Scholz, A. Seyfarth, O. von Stryk
Towards Human-Like Bipedal Locomotion with Three-Segmented Elastic Legs
In: 41st International Symposium on Robotics (ISR)/ 6th German Conference on Robotics (ROBOTIK), pp. 696-703, Jun 7-9, 2010
PDF file (1.04 MB) | BibTeX

K. Radkhah, S. Kurowski, T. Lens, O. von Stryk
Compliant Robot Actuation by Feedforward Controlled Emulated Spring Stiffness
In: Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR), Vol. 6472, pp. 497-508, Springer, 2010
PDF file (1.32 MB) | BibTeX

D. Becker, M. Risler
Mutual localization in a team of autonomous robots using acoustic robot detection
In: RoboCup 2008: Robot Soccer World Cup XII, (Ed. L. Iocchi and H. Matsubara and A. Weitzenfeld and C. Zhou), Vol. 5399, pp. 35-48, Springer Verlag, 2009
PDF file (270 kB) | BibTeX

T. Hemker, H. Sakamoto, M. Stelzer, O. von Stryk
Efficient walking speed optimization of a humanoid robot
In: International Journal of Robotics Research, Vol. 28, Nr. 2, pp. 303 - 314, Feb., 2009
PDF file (3.13 MB) | BibTeX

Armin Berres
Infrastruktur zur Evaluierung konkurrierender Algorithmen zur Anwendung im RoboCup
Diplomarbeit 2009
PDF file (8.47 MB) | BibTeX

M. Friedmann, K. Petersen, S. Petters, K. Radkhah, Dorian Scholz, D. Thomas, O. von Stryk
Darmstadt Dribblers: Team Description for Humanoid KidSize League of RoboCup 2009
2009
PDF file (214 kB) | BibTeX

Martin Friedmann
Simulation of Autonomous Robot Teams With Adaptable Levels of Abstraction
Nov. 30, 2009
(No PDF File) | BibTeX

A. Seyfarth, R. Tausch, M. Stelzer, F. Iida, A. Karguth, O. von Stryk
Towards bipedal jogging as a natural result for optimizing walking speed for passively compliant three-segmented legs
In: International Journal of Robotics Research, Vol. 28, Nr. 2, pp. 257-265, 2009
PDF file (1.91 MB) | BibTeX

M. Friedmann, K. Petersen, O. von Stryk
Adequate motion simulation and collision detection for soccer playing humanoid robots
In: Robotics and Autonomous Systems, Vol. 57, pp. 786-795, 2009
PDF file (2.02 MB) | BibTeX

Max Risler
Behavior Control for Single and Multiple Autonomous Agents Based on Hierarchical Finite State Machines
Fortschritt-Berichte VDI, Nr. 801, VDI Verlag, May 15, 2009
(No PDF File) | BibTeX

D. Scholz, M. Friedmann, O. von Stryk
Fast, Robust and Versatile Humanoid Robot Locomotion with Minimal Sensor Input
In: Proc. 4th Workshop on Humanoid Soccer Robots at the 2009 IEEE-RAS Int. Conf. on Humanoid Robots, Dec. 7 - Dec. 10, 2009
PDF file (1.54 MB) | BibTeX

Simon Templer
Fusion von externen Videos und intrinsischen Daten zur Offline-Analyse von Teams mobiler autonomer Roboter
Diplomarbeit 2009
PDF file (10.93 MB) | BibTeX

Christian Reinl, Oskar von Stryk
MILP-basierte Optimalsteuerung kooperativer Multi-Vehikel-Systeme
In: GMA-Fachausschuss 1.40 "Theoretische Verfahren der Regelungstechnik" Tagungsband, (Ed. Andreas Kugi, Boris Lohmann), pp. 138 - 150, Technische Universit"at Wien, Institut f"ur Automatisierungs- und Regelungstechnik, Sept, 2009
PDF file (2.87 MB) | BibTeX

Georg Stoll
A supporter behavior for autonomous soccer playing humanoid robots
2009
(No PDF File) | BibTeX

M. Friedmann, K. Petersen, O. von Stryk
Tailored real-time simulation for teams of humanoid robots
In: RoboCup 2007: Robot Soccer World Cup XI, (Ed. U. Visser and F. Ribeiro and T. Ohashi and F. Dellaert), Vol. 5001, pp. 425-432, Springer-Verlag, 2008
PDF file (435 kB) | BibTeX

S. Petters, D. Thomas, M. Friedmann, O. von Stryk
Multilevel testing of control software for teams of autonomous mobile robots
In: Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2008), (Ed. S. Carpin et al.), Nr. 5325, pp. 183-194, Springer, November, 2008
PDF file (3.6 MB) | BibTeX

Josef Baumgartner
Automatische Farbklassifikation zur Anwendung im RoboCup
Diplomarbeit 2008
PDF file (7.78 MB) | BibTeX

Kanold, Thomas G.
Blickrichtungsstabilisierung für die Kopfkamera eines humanoiden Roboters
2008
(No PDF File) | BibTeX

Robert Kratz
Entwurf und Konstruktion einer Regelung für neuartige Formgedächtnislegierungsaktoren und des biologisch inspirierten Humanoidroboters Lara
Diplomarbeit 2008
(No PDF File) | BibTeX

M. Friedmann, K. Petersen, S. Petters, K. Radkhah, D. Thomas, O. von Stryk
Darmstadt Dribblers: Team Description for Humanoid KidSize League of RoboCup 2008
2008
PDF file (289 kB) | BibTeX

T. Hemker
Derivative Free Surrogate Optimization for Mixed-Integer Nonlinear Black Box Problems in Engineering
Nr. 797, VDI Verlag, December 19, 2008
(No PDF File) | BibTeX

M. Friedmann, J. Kiener, S. Petters, H. Sakamoto, D. Thomas, O. von Stryk
Versatile, high-quality motions and behavior control of a humanoid soccer robot
In: International Journal of Humanoid Robotics, Vol. 5, Nr. 3, pp. 417-436, September, 2008
PDF file (2.38 MB) | BibTeX

C. Reinl, F. Ruh, F. Stolzenburg, O. von Stryk
Multi-Robot Systems Optimization and Analysis Using MILP and CLP
In: AAMAS08-Workshop on Formal Models and Methods for Multi-Robot Systems, May 12-16, 2008
PDF file (246 kB) | BibTeX

M. Risler, O. von Stryk
Formal behavior specification of multi-robot systems using hierarchical state machines in XABSL
In: AAMAS08-Workshop on Formal Models and Methods for Multi-Robot Systems, May 12-16, 2008
PDF file (1.77 MB) | BibTeX

David Becker, Jörg Brose, Daniel Göhring, Matthias Jüngel, Max Risler, Thomas Röfer
GermanTeam 2008 - The German National RoboCup Team
2008
PDF file (346 kB) | BibTeX

M. Friedmann, K. Petersen, O. von Stryk
Simulation of multi-robot teams with flexible level of detail
In: Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2008), (Ed. S. Carpin et al.), Nr. 5325, pp. 29-40, Springer, November, 2008
PDF file (477 kB) | BibTeX

M. Friedmann, S. Petters, M. Risler, H. Sakamoto, D. Thomas, O. von Stryk
New Autonomous, Four-Legged and Humanoid Robots for Research and Education
In: Workshop Proceedings of SIMPAR 2008, Intl. Conf. on Simulation, Modeling and Programming for Autonomous Robots, (Ed. Emanuele Menegatti), Nr. ISBN 978-88-95872-01-8, pp. 570-579, November 3-4, 2008
PDF file (4.46 MB) | BibTeX

M. Stelzer, O. von Stryk
Walking, running and kicking of humanoid robots and humans
In: From Nano to Space - Applied Mathematics Inspired by Roland Bulirsch, (Ed. M.H. Breitner and G. Denk and P. Rentrop), pp. 175-192 and 337, Springer Verlag, 2008
PDF file (1000 kB) | BibTeX

Dorian Scholz
Modulare und plattformunabhängige dynamische Bewegungserzeugung für autonome mobile humanoide Roboter
Diplomarbeit 2008
PDF file (1.2 MB) | BibTeX

R. Kratz, M. Stelzer, M. Friedmann, O. von Stryk
Control approach for a novel high power-to-weight ratio SMA muscle scalable in force and length
In: IEEE/ASME Intl. Conf. on Advanced Intelligent Mechatronics (AIM), September 4-7, 2007
PDF file (1.6 MB) | BibTeX

M. Friedmann, S. Petters, M. Risler, H. Sakamoto, D. Thomas, O. von Stryk
A new, open and modular platform for research in autonomous four-legged robots
In: Autonome Mobile Systeme 2007, (Ed. K. Berns and T. Luksch), pp. 254 - 260, Springer Verlag, 18 - 19 Oct., 2007
PDF file (498 kB) | BibTeX

M. Friedmann, K. Petersen, O. v. Stryk
Adequate Motion Simulation and Collision Detection for Soccer Playing Humanoid Robots
In: Proc. 2nd Workshop on Humanoid Soccer Robots at the 2007 IEEE-RAS Int. Conf. on Humanoid Robots, Nov. 29 - Dec. 1, 2007
PDF file (3.23 MB) | BibTeX

J. Kiener, O. von Stryk
Cooperation of heterogeneous, autonomous robots: A case study of humanoid and wheeled robots
In: Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 959-964, Oct. 29 - Nov. 2, 2007
PDF file (191 kB) | BibTeX

S. Petters, D. Thomas, O. von Stryk
RoboFrame - A Modular Software Framework for Lightweight Autonomous Robots
In: Proc. Workshop on Measures and Procedures for the Evaluation of Robot Architectures and Middleware of the 2007 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems, Oct. 29, 2007
PDF file (674 kB) | BibTeX

Karen Petersen
Effiziente Kollisionserkennung und echtzeitfähige Simulation der Kinematik, Dynamik und Sensorik autonomer Fahrzeuge
Diplomarbeit 2007
PDF file (5.4 MB) | BibTeX

M. Friedmann, J. Kiener, S. Petters, D. Thomas, O. von Stryk
Darmstadt Dribblers: Team Description for Humanoid KidSize League of RoboCup 2007
2007
PDF file (637 kB) | BibTeX

Marcus Schobbe und Patrick Stamm
Modulare Weltmodellierung und Kommunikation in heterogenen Robotersystemen
Diplomarbeit 2007
PDF file (5.8 MB) | BibTeX

Maximilian Stelzer
Forward Dynamics Simulation and Optimization of Walking Robots and Humans
Fortschritt-Berichte VDI, Nr. 1133, VDI Verlag, 2007, May 24, 2007
(No PDF File) | BibTeX

Nicola Michael Gutberlet
ActiveVision – Intelligente Bildverarbeitung für den Einsatz im RoboCup
Diplomarbeit 2007
PDF file (2.66 MB) | BibTeX

R. Kratz, M. Stelzer, O. von Stryk
Design, measurement experiments and application of a macroscopic shape memory alloy actuator system
In: ACTUATOR 2006 - 10th International Conference on New Actuators, June 14-15, 2006
PDF file (2.54 MB) | BibTeX

O. von Stryk
Ihr intelligenter 'Personal Robot' im Jahr 2050: Haushaltshilfe, Terminator oder Fußballspieler?
In: Bionik - Vom Ursaurier zum laufenden Roboter, (Ed. Museum der Natur Gotha), pp. 48-50, Stiftung Schloss Friedenstein Gotha, 2006
(No PDF File) | BibTeX

T. Hemker, H. Sakamoto, M. Stelzer, O. von Stryk
Hardware-in-the-loop optimization of the walking speed of a humanoid robot
In: CLAWAR 2006: 9th International Conference on Climbing and Walking Robots, pp. 614-623, September 11-14, 2006
PDF file (2.18 MB) | BibTeX

A. Seyfarth, R. Tausch, M. Stelzer, F. Iida, A. Karguth, O. von Stryk
Towards bipedal running as a natural result of optimizing walking speed for passively compliant three-segmented legs
In: CLAWAR 2006: 9th International Conference on Climbing and Walking Robots, pp. 396-401, September 12-14, 2006
PDF file (748 kB) | BibTeX

Christian Conrad
Aufgabenverteilung in Multi-Roboter-Systemen
2006
(No PDF File) | BibTeX

M. Friedmann, J. Kiener, S. Petters, H. Sakamoto, D. Thomas, O. von Stryk
Versatile, high-quality motions and behavior control of humanoid soccer robots
In: Proc. Workshop on Humanoid Soccer Robots of the 2006 IEEE-RAS Int. Conf. on Humanoid Robots, pp. 9-16, Dec. 4-6, 2006
PDF file (729 kB) | BibTeX

M. Friedmann, J. Kiener, S. Petters, D. Thomas, O. von Stryk
Reusable architecture and tools for teams of lightweight heterogeneous robots
In: Proc. 1st IFAC Workshop on Multivehicle Systems, pp. 51-56, October 2-3, 2006
PDF file (349 kB) | BibTeX

R. Kratz, M. Stelzer, O. von Stryk
Macroscopic SMA wire bundle actuator/sensor system: design, measurement, control approach
In: Proc. 4th IFAC-Symposium on Mechatronic Systems, September 12-14, 2006
PDF file (2.54 MB) | BibTeX

M. Lötzsch, M. Risler, M. Jüngel
XABSL - A Pragmatic Approach to Behavior Engineering
In: Proceedings of IEEE/RSJ International Conference of Intelligent Robots and Systems (IROS), pp. 5124-5129, October 9-15, 2006
PDF file (1.7 MB) | BibTeX

Jutta Kiener
Heterogene Teams kooperierender autonomer Roboter (Heterogeneous Teams of Cooperating Robots)
Fortschritt-Berichte VDI, Nr. 1128, VDI Verlag, 2007, December 15, 2006
(No PDF File) | BibTeX

M. Friedmann, J. Kiener, S. Petters, D. Thomas, O. von Stryk
Modular software architecture for teams of cooperating, heterogeneous robots
In: Proc. IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 613-618, December 17-20, 2006
PDF file (508 kB) | BibTeX

R. Kratz, S. Klug, M. Stelzer, O. von Stryk
Biologically inspired reflex based stabilization control of a humanoid robot with artificial {SMA} muscles
In: Proc. IEEE International Conference on Robotics and Biomimetics (ROBIO), pp. 1089-1094, December 17-20, 2006
PDF file (2.63 MB) | BibTeX

Tobias Ludwig
Hindernis- und Spielererkennung für Humanoidroboter beim RoboCup
Diplomarbeit 2006
PDF file (4.54 MB) | BibTeX

R. Höpler, M. Stelzer, O. von Stryk
Object-Oriented Dynamics Modeling of Walking Robots for Model-Based Trajectory Optimization and Control
In: Proc. 5th MATHMOD Vienna, February 8-10, (Ed. I. Troch and F. Breitenecker), Nr. 30, 2006
PDF file (912 kB) | BibTeX

R. Höpler, M. Stelzer, O. von Stryk
Object-oriented dynamics modeling for simulation, optimization and control of walking robots
In: Proc. 18th Symposium on Simulation Technique, ASIM, Erlangen, pp. 588--593, September 12-15, 2005
PDF file (405 kB) | BibTeX

M. Friedmann, J. Kiener, R. Kratz, T. Ludwig, S. Petters, M. Stelzer, O. von Stryk, D. Thomas
Darmstadt Dribblers 2005: Humanoid Robot (Team Description Paper)
2005
PDF file (260 kB) | BibTeX

Jutta Kiener, Sebastian Petters, Dirk Thomas, Martin Friedmann und Oskar von Stryk
Architektur und Komponenten für ein heterogenes Team kooperierender, autonomer humanoider Roboter
In: Autonome Mobile Systeme 2005 , (Ed. P. Levi and M. Schanz and R. Lafrenz and V. Avrutin), Nr. 19, pp. 3 - 10, Springer, 08 - 09 December, 2005
PDF file (882 kB) | BibTeX

Sebastian Petters und Dirk Thomas
RoboFrame - Softwareframework für mobile autonome Robotersysteme
Diplomarbeit 2005
PDF file (1.83 MB) | BibTeX

Th. Röfer, O. von Stryk
Softwarearchitektur: Ein Erfolgsfaktor beim Roboterfußball!
In: OBJEKTspektrum, Vol. 2005, Nr. 4, pp. 31-32, July/August, 2005
(No PDF File) | BibTeX

J. Kiener, M. Stelzer, O. von Stryk
Darmstadt Dribblers 2004: Humanoid Robot (Team Description Paper)
2004
PDF file (120 kB) | BibTeX

Robert Höpler
A unifying object-oriented methodology to consolidate multibody dynamics computations in robot control
Fortschritt-Berichte VDI, Nr. 1054, VDI Verlag, 2005, August 6, 2004
(No PDF File) | BibTeX

R. Höpler, M. Stelzer, O. von Stryk
Integrated, object-oriented dynamics modeling for design, trajectory optimization and control of legged robots
In: EUROMECH Colloquium 452 on Advances in Simulation Techniques for Applied Dynamics, March 1-4, 2004
(No PDF File) | BibTeX

R. Höpler, M. Stelzer, O. von Stryk
Object-oriented dynamics modeling for legged robot trajectory optimization and control
In: Proc. IEEE Intl. Conf. on Mechatronics and Robotics (MechRob), pp. 972-977, Sascha Eysoldt Verlag, Sept. 13-15, 2004
PDF file (265 kB) | BibTeX

M. Stelzer, O. von Stryk
Laufbewegungen bei Roboter, Tier und Mensch: Analyse, Modellierung, Simulation und Optimierung
In: Bionik, (Ed. T. Rossmann and C. Tropea), pp. 145-158, Springer-Verlag, 2004
(No PDF File) | BibTeX

M. Buss, M. Hardt, J. Kiener, M. Sobotka, M. Stelzer, O. von Stryk, D. Wollherr
Towards an autonomous, humanoid, and dynamically walking robot: modeling, optimal trajectory planning, hardware architecture, and experiments
In: Proc. 3rd IEEE-RAS International Conference on Humanoid Robots (Humanoids2003), 30 Sept - 3 Oct, 2003
PDF file (640 kB) | BibTeX

M. Hardt, O. von Stryk
Dynamic modeling in the simulation, optimization and control of legged robots
In: ZAMM - Journal of Applied Mathematics and Mechanics , Vol. 83, Nr. 10, pp. 648-662, 2003
PDF file (341 kB) | BibTeX

M. Hardt, O. von Stryk, D. Wollherr, M. Buss
Development and control of autonomous, biped locomotion using efficient modeling, simulation, and optimization techniques
In: Proc. IEEE Int. Conf. on Robotics and Automation (ICRA), pp. 1356-1361, Sept. 14-19, 2003
PDF file (451 kB) | BibTeX

A. Helm, M. Hardt, R. Höpler, O. von Stryk
Development of a toolbox for model-based real-time simulation and analysis of legged robots
In: PAMM - Proceedings in Applied Mathematics and Mechanics, Vol. 2, Nr. 1, pp. 130-131, 25 March, 2003
PDF file (151 kB) | BibTeX

M. Hardt, O. von Stryk
The role of motion dynamics in the design, control and stability of bipedal and quadrupedal robots
In: RoboCup 2002 International Symposium (Robot Soccer World Cup VI), (Ed. G.A. Kaminka and P.U. Lima and R. Rojas), Vol. 2752, pp. 206-223, Springer-Verlag, June 24-25, 2003
PDF file (184 kB) | BibTeX

M. Stelzer, M. Hardt, O. von Stryk
Efficient dynamic modeling, numerical optimal control and experimental results for various gaits of a quadruped robot
In: CLAWAR 2003: 6th International Conference on Climbing and Walking Robots, Catania, Italy, pp. 601-608, Sept. 17-19, 2003
PDF file (831 kB) | BibTeX

D. Wollherr, M. Buss, M. Hardt, O. von Stryk
Research and Development Towards an Autonomous Biped Walking Robot
In: Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM2003, pp. 968-973, 2003
PDF file (729 kB) | BibTeX

M. Buss, M. Hardt, O. von Stryk
Numerical solution of hybrid optimal control problems with applications in robotics
In: Proc. 15th IFAC World Congress on Automatic Control, pp. 2077-2082, Elsevier Science, July 21-26, 2002
PDF file (236 kB) | BibTeX

M. Hardt, D. Wollherr, M. Buss, O. von Stryk
Design of an autonomous fast-walking humanoid robot
In: CLAWAR: International Conference on Climbing and Walking Robots, (Ed. P. Bidaud and F.B. Amar), pp. 391-398, Bury St. Edmunds and London, UK: Professional Engineering Publishing, Sept. 25-27, 2002
PDF file (201 kB) | BibTeX

M. Hardt, O. von Stryk
Increasing stability in dynamic gaits using numerical optimization
In: Proc. 15th IFAC World Congress on Automatic Control, pp. 1636-1641, Elsevier Science, July 21-26, 2002
PDF file (129 kB) | BibTeX

D. Wollherr, M. Hardt, M. Buss, O. von Stryk
Actuator selection and hardware realization of a small and fast-moving autonomous humanoid robot
In: Proc. 2002 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), pp. 2491-2496, Sept. 30 - Oct. 4, 2002
PDF file (178 kB) | BibTeX

M. Buss, M. Glocker, M. Hardt, O. von Stryk, R. Bulirsch, G. Schmidt
Nonlinear hybrid dynamical systems: modeling, optimal control, and applications
In: Modelling, Analysis and Design of Hybrid Systems, (Ed. S. Engell, G. Frehse, E. Schnieder), Vol. 279, pp. 311-335, Springer-Verlag, 2002
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M. Hardt, M. Stelzer, O. von Stryk
Modellierung und Simulation der Dynamik des Laufens bei Roboter, Tier und Mensch
In: thema Forschung, Vol. 2/2002, pp. 56-63, Technische Universität Darmstadt, 2002
PDF file (281 kB) | BibTeX