Fachbereich Informatik - Computer Science Department - Homepage/Startseite TU Darmstadt - Homepage/Startseite Homepage/Startseite

Darmstadt Dribblers    

Current Research Topics

High performance locomotion

The speed of walking robots is a critical factor in many applications, especially in autonomous robot soccer games. Our aim is to increase the walking speed of our robots through automated hardware-in-the-loop optimization. [ More ... ]

Bionic robots and new actuators

Lara, the innovative humanoid robot, is actuated by a shape memory metal (SMA) called NiTinol. Prestrainend SMAs change their lengths up to 8% when heated above their transformation temperature. The heating of the muscles is realised by an electric current. [ More ... ]

Software and control architectures tailored for heterogeneous teams of autonomous robots

Besides algorithms for the different subtasks of a robotic system, their embedding in the complete system is crucial. An appropriate architecture has to take care of many tasks transparently. Also, the development of new algorithms can be supported actively. [ More ... ]

Lightweight robots described by low weight, low payload capabilities and high motion dynamics

The challenge of autonomous walking with lightweight robots with a low payload capability is a sophisticated dynamic problem. All sensor and actuator components as well as the onboard computer have to selected carefully. [ More ... ]

Robot localization

One of the subtasks in robot soccer and current research topic is self-localization, i.e. to determine the position and orientation of the robot. In robot soccer the robots have to localize on the playing field using landmarks such as the goals, field lines, and the colored beacons. These landmarks are not necessarily unique. Determining position and orientation efficiently and accurately while having to rely on noisy landmark observations is a difficult problem. [ More ... ]

Programming of robot and team behavior using discrete, hierarchical state automata

The Extensible Agent Behavior Specification Language (XABSL) is a pragmatic tool for engineering the behavior of autonomous agents in complex and dynamic environments. It is based on hierarchies of finite state machines (FSM) for action selection and supports the design of longterm and deliberative decision processes as well as of short-term and reactive behaviors. [ More ... ]

Optimal cooperation and control of multi-vehicle teams
with nonlinear hybrid systems

Based on a nonlinear hybrid dynamical systems model methods for optimal coordination and control of multiple robots are investigated. The time dependent hybrid state of the overall system consists of discrete (roles,actions) and continuous (e.g., position, orientation, velocity) state variables of the vehicles involved. [ More ... ]

Development and use of simulators for HW-/SW-in-the-loop testing of modules of robot SW

To enable testing of the robot-controle-software a simulation-framework has been developed. This framework provides components for the interactive simulation of motion and sensors of a team of humanoid robots. [ More ... ]

Platforms & Achievements: first rate ranks for cooperating teams of soccer playing four-legged and humanoid robots

Resume of our achievements: a multitude of technological innovations. [ More ... ]

GameController / Referee Box for RoboCup Humanoid League

Purpose of a GameController is to provide the robots more information about the current game state including gamephase, remaining time, score and penalties. This allows a higher autonomy of the players. [ More ... ]