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Publications
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Publications in German / Veröffentlichungen auf Deutsch
2011Pfeiffer, Kai; Bengel, Matthias; Bubeck, Alexander: Offshore Robotics - Survey, Implementation, Outlook. In: Institute of Electrical and Electronics Engineers u.a.: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems : Celebrating 50 Years of Robotics, September 25-30, 2011, San Francisco, USA. Piscataway, NJ : IEEE, 2011, S. 241-246 Browatzki B Person, Fischer J , Graf B , Bülthoff HH Person und Wallraven C Person (November-2011) Going into depth: Evaluating 2D and 3D cues for object classification on a new, large-scale object dataset 1st ICCV Workshop on Consumer Depth Cameras in Computer Vision (CD4CV2011).
Mertens, Alexander; Reiser, Ulrich; Brenken, Benedikt; Lüdtke, Mathias; Hägele, Martin; Verl, Alexander; Brandl, Christopher; Schlick, Christopher: Assistive Robots in Eldercare and Daily Living: Automation of Individual Services for Senior Citizens. In: Jeschke, Sabina (Ed.) u.a.: Intelligent Robotics and Applications Part I : 4th International Conference, ICIRA 2011. Aachen, Germany, December 6-8, 2011. Proceedings. Berlin; Heidelberg : Springer, 2011, Part I, S. 542-552 (Lecture Notes in Artificial Intelligence 7101).
Arbeiter, Georg; Hägele, Martin; Verl, Alexander: Field of view dependent registration of point clouds and incremental extraction of table-tops using time-of-flight cameras: held at the ICRA Workshop: Semantic Perception, Mapping and Exploration (SPME). In: IEEE / Robotics and Automation Society u.a.: 2011 IEEE International Conference on Robotics and Automation ICRA: Better Robots, Better Life. May 9-13, 2011, Shanghai, China. Piscataway, NJ, USA : IEEE Press, 2011, 6 S.
Fischer, Jan; Ruppel, Alexander; Weisshardt, Florian; Verl, Alexander: A Rotation Invariant Feature Descriptor O-DAISY and its FPGA Implementation. In: Institute of Electrical and Electronics Engineers u.a.: 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems: celebrating 50 Years of Robotics, September 25-30, 201, San Francisco, USA. Piscataway, NJ : IEEE, 2011, S. 2365-2370
Fischer, Jan; Arbeiter, Georg; Verl, Alexander: Combination of Time-of-Flight Depth and Stereo using Semiglobal Optimization. In: IEEE / Robotics and Automation Society u.a.: 2011 IEEE International Conference on Robotics and Automation ICRA 2011: Better Robots, Better Life. May 9-13, 2011, Shanghai, China. Piscataway, NJ, USA : IEEE Press, 2011, S. 3548-3553
Blumenthal, Sebastian; Fischer, Jan; Nowak, Walter; Prassler, Erwin: Towards Identification of Best Practice Algorithms in 3D Perception and Modeling. In: IEEE / Robotics and Automation Society u.a.:2011 IEEE International Conference on Robotics and Automation ICRA : Better Robots, Better Life. May 9-13, 2011, Shanghai, China.Piscataway, NJ, USA : IEEE Press, 2011, S. 3554-3561
2010Connette, Christian P.; Pott, Andreas; Hägele, Martin: Addressing Input Saturation and Kinematic Constraints of Overactuated Undercarriages by Predictive Potential Fields. In: Institute of Electrical and Electronics Engineers u.a.: IEEE/RSJ 2010 International Conference on Robots and Intelligent Systems: Intelligent Robotics in the Next Transition, Taipei, Taiwan, Oct. 18-22, 2010. Piscataway, NJ: IEEE, 2010, S. 4775-4781
Kunz, Tobias; Reiser, Ulrich; Stilman, Mike; Verl, Alexander:Real-Time Path Planning for a Robot Arm in Changing Environments. In: Institute of Electrical and Electronics Engineers u.a.: IEEE/RSJ 2010 International Conference on Robots and Intelligent Systems: Intelligent Robotics in the Next Transition, Taipei, Taiwan, Oct. 18-22, 2010. Piscataway, NJ: IEEE, 2010, S. 5906-5911
Connette, Christian P.; Hofmeister, Stefan; Bubeck, Alexander; Hägele, Martin; Verl, Alexander: Model-Predictive Undercarriage Control for a Pseudo-Omnidirectional, Wheeled Mobile Robot. In: Neumann, Kristin (Ed.) u.a.; International Federation of Robotics u.a.: Joint International Conference of ISR/ROBOTIK2010: Munich, 7-9 June 2010. Berlin; Offenbach: VDE-Verlag, 2010, S. 1178-1183
Arbeiter, Georg; Fischer, Jan; Verl, Alexander: 3-D-Environment Reconstruction for Mobile Robots using fast- SLAM and Feature Extraction. In: Neumann, Kristin (Ed.) u.a.; International Federation of Robotics u.a.: Joint International Conference of ISR/ROBOTIK2010: Munich, 7-9 June 2010. Berlin; Offenbach: VDE-Verlag, 2010, S. 291-295
Fischer, Jan; Seitz, Daniel; Verl, Alexander: Face Detection using 3-D Time-of-Flight and Colour Cameras. In: Neumann, Kristin (Ed.) u.a.; International Federation of Robotics u.a.: Joint International Conference of ISR/ROBOTIK2010: Munich, 7-9 June 2010. Berlin; Offenbach: VDE-Verlag, 2010, S. 112-116
Weisshardt, Florian; Reiser, Ulrich; Parlitz, Christopher; Verl, Alexander: Making High-Tech Service Robot Platforms Available. In: Neumann, Kristin (Ed.) u.a.; International Federation of Robotics u.a.: Joint International Conference of ISR/ROBOTIK2010: Munich, 7-9 June 2010. Berlin; Offenbach: VDE-Verlag, 2010, S. 1115-1120
Arbeiter, Georg; Fischer, Jan; Verl, Alexander: 3D Perception and Modeling for Manipulation on Care-O-bot® 3. In: IEEE / Robotics and Automation Society: 2010 IEEE International Conference on Robotics and Automation (ICRA 2010): Conference Digest. Anchorage, Alaska, USA, May 3-8, 2010. Piscataway, NJ, USA: IEEE Press, 2010, 5 S.
2009Graf, Birgit; Reiser, Ulrich; Hägele, Martin; Mauz, Kathrin; Klein, Peter: Robotic Home Assistant Care-O-bot® 3 - Product Vision and Innovation Platform. In: IEEE / Robotics and Automation Society: IEEE Workshop on Advanced Robotics and its Social Impacts - ARSO 2009: Workshop Proceedings, Tokyo, Japan, November 23-25, 2009. Piscataway, NJ: IEEE, 2009, S. 139-144
Ulrich Reiser, Christian Connette, Jan Fischer, Jens Kubacki, Alexander Bubeck, Florian Weisshardt, Theo Jacobs, Christopher Parlitz, Martin Hägele, Alexander Verl: Care-O-bot 3 - Creating a product vision for service robot applications by integrating design and technology. In: The 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, USA, pp. 1992-1997.
Bengel, Matthias; Pfeiffer, Kai; Graf, Birgit; Bubeck, Alexander; Verl, Alexander: Mobile Robots for Offshore Inspection and Manipulation. In: The 2009 IEEE/RSJ International Conference on Robots and Intelligent Systems (IROS), St. Louis, USA, pp. 3317-3322
Bubeck, Alexander; Reiser, Ulrich; Pfeiffer, Kai; Hägele, Martin: Distributed Access to a Centralized Testing and Benchmarking Facility via the DESIRE Webportal. In: The 2009 IEEE/RSJ International Conference on Robots and Intelligent Systems (IROS), St. Louis. Workshop on Performance Evaluation and Benchmarking for Next Intelligent Robots and Systems, 5 S. Reiser, Ulrich; Parlitz, Christopher; Klein, Peter: Care-O-bot® 3 - Vision of a robot butler. In: Beyond Gray Droids: Domestic Robot Design for the 21st Century: Workshop in Cambridge, UK on 1 September 2009 at HCI 2009. Cambridge, UK, 2009, 4 S.
Ulrich Reiser, Regina Klauser, Christopher Parlitz and Alexander Verl: "DESIRE WEB 2.0 - Integration Management and Distributed Software Development for Service Robots". In: Proceedings of the 14th International Conference on Advance Robotics, June 22-26, Munich, Germany
Graf, Birgit; Staab, Harald: Service Robots and Automation for the Disabled / Limited. In: Nof, Shimon Y. (Hrsg.): Springer Handbook of Automation. Berlin u.a.: Springer, 2009, S. 1485-1502
Graf, Birgit: An Adaptive Guidance System for Robotic Walking Aids. In: Journal of Computing and Information Technology - CIT 17 (2009), Nr. 1, S. 109-120
Graf, Birgit; Parlitz, Christopher; Hägele, Martin: Robotic Home Assistant Care-O-bot® 3 Product Vision and Innovation Platform. In: Human-Computer Interaction - HCI International 2009 / DVD: Interaction Design and Usability. 13th International Conference, HCI International 2009 with 10 further Associated Conferences, San Diego, CA, USA, July 19-24, 2009. Proceedings and Posters. Berlin u.a.: Springer, 2009, S. 312-320 (Lecture Notes in Computer Science 5610-5624).
Connette, Christian P.; Parlitz, Christopher; Hägele, Martin; Verl, Alexander: Singularity Avoidance for Over-Actuated, Pseudo-Omnidirectional, Wheeled Mobile Robots. In: Institute of Electrical and Electronics Engineers: Proceedings of the 2009 IEEE International Conference on Robotics and Automation: CD-ROM. May 12-17, 2009, Kobe, Japan. Piscataway, NJ: IEEE, 2009
2008Connette, Christian P.; Parlitz, Christopher; Graf, Birgit; Hägele, Martin; Verl, Alexander: "The Mobility Concept of Care-O-bot 3." In: International Federation of Robotics u.a.: ISR 2008: 39th International Symposium on Robotics, 15.-17. Oct. 2008, Seoul, Korea. Seoul, Korea, 2008, S. 746-750
Connette, Christian P.; Pott, Andreas; Hägele, Martin; Verl, Alexander: "Control of an Pseudo-omnidirectional, Non-holonomic, Mobile Robot Based on an ICM Representation in Spherical Coordinates." In: Institute of Electrical and Electronics Engineers: Proceedings of the 47th IEEE Conference on Decision and Control: CD-ROM. December 9-11, 2008, Cancun, Mexico. Piscataway, NJ: IEEE, 2008, S. 4976-4983
Graf, B.; Pfeiffer, K.: "Mobile Robotics for Offshore Automation". In: Penders, J. (Ed.) u.a.: Universität Jaume Costelló de la Plana, Spanien, u.a.: Robotics for Risky Interventions and Surveillance of the Environment: IARP/EURON International Workshop, January 7th-8th, 2008, Benicássim, Spain. Costello de la Plana, Spanien, 2008, 9 S. (e-Treballs d´Informática i Tecnologia 4)
Parlitz, Christopher; Hägele, Martin; Klein, Peter; Seifert, Jan; Dautenhahn, Kerstin "Care-O-bot 3 - Rationale for human-robot interaction design." In: International Federation of Robotics u.a.: ISR 2008: 39th International Symposium on Robotics, 15.-17. Oct. 2008, Seoul, Korea. Seoul, Korea, 2008, S. 275-280
Reiser, Ulrich; Volz, Rene; Geibel, Felix: "ManIPA: A flexible Manipulation Framework for Collision Avoidance and Robot Control." In: International Federation of Robotics u.a.: ISR 2008: 39th International Symposium on Robotics, 15.-17. Oct. 2008, Seoul, Korea. Seoul, Korea, 2008, S. 407-411
2007Connette, C.P.; Meister, O.; Hägele, M.; Trommer, G.F.: "Decomposition of Line Segments into Corner and Statistical Grown Line Features in an EKF-SLAM Framework". In: Institute of Electrical and Electronics Engineers u.a.: IROS 07: 20 Years of Innovative Robotics: Conference Proceedings. IEEE/RSJ International Conference on Intelligent Robots and Systems, San Diego, Oct 29 - Nov 2, 2007. New Orleans: Omnipress, 2007, S. 3884-3891
Graf, B.; Pfeiffer, K.; Staab, H.: "Mobile Robots for Offshore Inspection and Manipulation." In: Proceedings of the International Petroleum Technology Conference, 4-6 December 2007, Dubai, U.A.E. (IPTC-11542-MS).
Graf, B.; Schraft, R.D.: "Behavior-based Path Modification for Shared Control of Robotic Walking Aids". In: Driessen, Bart (General Chair / Ed.) u.a.; Nederlandse Centrale Organisatie voor Toegepast-Natuurwetenschappelijk Onderzoek u.a.: Robots care. ICORR 2007 / CD-ROM: 10th International Conference on Rehabilitation Robotics, June 12 - June 15, 2007, Noordwijk, Netherlands. Piscataway, NJ: IEEE Operations Center, 2007, S. 317-322
Parlitz, C.; Baum, W.; Reiser, U.; Hägele, M.: "Intuitive Human-Machine-Interaction and Implementation on a Household Robot Companion". In: Human-Computer Interaction - HCI International 2007 / DVD: Interaction Design and Usability. 12th International Conference, Beijing, China, July 22-27, 2007. Proceedings, Part I. Berlin u.a.: Springer, 2007, S. 922-929 (Lecture Notes in Computer Science 4550).
Reiser, U.; Kubacki, J.: "Using a 3D Time-of-Flight Range Camera for Visual Tracking". In: Centre National de la Recherche scientifique / Laboratoire d´Analyse et d´Architecture des Systèmes: 6th IFAC Symposium on Intelligent Autonomous Vehicles / CD-ROM: Symposium Proceedings. 3-5 September 2007, Toulouse, France. Toulouse, France, 2007, 6 S.
2006Kubacki, J.; Reiser, U.: "Mirrobot: Fast Detection of Body-Parts in the Scale-Space of Range Images with an Application to Human Motion Copying". In: proceedings of IEEE ROMAN '06, pp. 552 - 557
Kubacki, J.; Baum, W.: "Towards Open-Ended 3D Rotation and Shift Invariant Object Detection for Robot Companions". In: Institute of Electrical and Electronics Engineers u.a.: Intelligent Robots and Systems / CD-ROM: Proceedings. IEEE/RSJ International Conference. October 9-15, 2006, Beijing, China. Piscataway, NJ, USA: IEEE Press, 2006, S. 3352-3357
Schraft, R.D.; Wegener, K.; Simons, F.; Pfeiffer, K.: "Intelligent Sensor System and Flexible Gripper for Security Robots". In: Tokhi, M. Osman (Ed.) u.a.: Climbing and Walking Robots: Proceedings of the 8th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR 2005), 13-15 September 2005, London, UK. Berlin u.a.: Springer, 2006, S. 801-808
2005Kubacki, J.; Pfeiffer, K.: "Using Range Imaging Sensors with Color Imaging Sensors in Cognitive Robot Companions: A New and Simple Calibration Technique Based on Particle Swarm Optimization". In: Ingensand, Hilmar (Publ.) u.a.; ETH Zürich: 1st Range Imaging Research Day: Proceedings, September 8/9, 2005 at ETH Zürich, Switzerland. Zürich, 2005, S. 43-57
Kubacki, J.; Giesler, B.; Parlitz, C.: "Active Autonomous Object Modeling for Recognition and Manipulation: Towards a Unified Object Model and Learning Cycle". In: Levi, Paul (Hrsg.) u.a.: Autonome Mobile Systeme 2005: 19. Fachgespräch, Stuttgart, 8./9. Dezember 2005. Berlin u.a.: Springer, 2005, S. 227-233 (Informatik aktuell).
2004Graf, B.: "Dependability of Mobile Robots in Direct Interaction with Humans." In: Prassler, E.; Lawitzky, G.; Stopp, A.; Grunwald, G.; Hägele, M.; Dillmann, R.; Iossifidis, I. (Eds.): Advances in Human-Robot Interaction. Series: Springer Tracts in Advanced Robotics , Vol. 14, 2004, pp. 223-240
Graf, B.; Hans, M.; Schraft, R.D.: "Mobile Robot Assistants - Issues for Dependable Operation in Direct Cooperation With Humans". IEEE Robotics & Automation Magazine Vol. 11 (2004) No. 2, Special Issue on Human Centered Robotics and Dependability, pp. 67-77.
Graf, B.; Hans, M.; Schraft, R.D.: "Care-O-bot II - Development of a Next Generation Robotic Home Assistant". Autonomous Robot Journal, March 2004, Volume 16, Issue 2, pp. 193-205.
Hans, M.: "The Control Architecture of Care-O-bot II." In: Prassler, E.; Lawitzky, G.; Stopp, A.; Grunwald, G.; Hägele, M.; Dillmann, R.; Iossifidis, I. (Eds.): Advances in Human-Robot Interaction. Series: Springer Tracts in Advanced Robotics , Vol. 14, 2004, pp. 321-330
Haegele, M.; Schaaf, W.; Helms, E.: "Robot Assistants as Simple and Effective Tools in Manufacturing Environments." In: Prassler, E.; Lawitzky, G.; Stopp, A.; Grunwald, G.; Hägele, M.; Dillmann, R.; Iossifidis, I. (Eds.): Advances in Human-Robot Interaction. Series: Springer Tracts in Advanced Robotics , Vol. 14, 2004, pp. 347-358
Hans, M.; Graf, B.: "Robotic Home Assistant Care-O-bot II." In: Prassler, E.; Lawitzky, G.; Stopp, A.; Grunwald, G.; Hägele, M.; Dillmann, R.; Iossifidis, I. (Eds.): Advances in Human-Robot Interaction. Series: Springer Tracts in Advanced Robotics , Vol. 14, 2004, pp. 371-384
Hägele, Martin: Robot Assistants in Manufacturing and Home Environments: Design and Technologies for Safety and Dependability. In: The Third IARP-IEEE/RAS-EURON Joint Workshop on Technical Challenges for Dependable Robots in Human Environments Schraft, R.D.; Helms, E.; Hans, M.; Thiemermann, S.: "Man-Machine-Interaction and Co-Operation for Mobile and Assisting Robots". In: Proceedings of EIS 2004. Madeira, 2004.
2002Graf, B.; Barth, O.: "Entertainment Robotics: Examples, Key Technologies and Perspectives". In proceedings of IROS-Workshop "Robots in Exhibitions" 2002.
Graf, B.; Hans, M.; Kubacki, J.; Schraft, R.D.: "Robotic Home Assistant Care-O-bot II". In proceedings of the Second Joint Meeting of the IEEE Engineering in Medicine and Biology Society and the Biomedical Engineering Society, Houston, Texas, 2002.
Graf, B.; Helms, E.; Lakshmana, V.; Rohrmoser, B.; Schraft, R.D.: "Anthropomorphic Robot Assistants - Giving the Human a Helping Hand". In proceedings of the Second IARP Â IEEE/RAS Joint Workshop on Technical Challenge for Dependable Robots in Human Environments, Toulouse 2002, pp. 20-24.
Hans, M.; Graf, B.; Schraft, R.D.: "Robotic Home Assistant Care-O-bot: Past - Present - Future". In proceedings of IEEE ROMAN '02, pp. 380-385.
Hägele, M.; Schaaf, W.; Helms, E.: "Robot Assistants at Manual Workplaces: Effective Co-operation and Safety Aspects". In: International Symposium on Robotics 2002 / CD-ROM: Proceedings. October 7-11, 2002, Stockholm, Sweden. Stockholm, 2002, o. Z.
Helms, E.; Schraft, R.D.; Hägele, M.: "rob@work: Robot Assistant in Industrial Environments". In proceedings of IEEE ROMAN '02.
Hostalet Wandosell, J. M., Graf, B.: "Non-Holonomic Navigation System of a Walking-Aid Robot". In proceedings of IEEE ROMAN '02, pp. 518-523.
2001Graf, B., Haegele, M.: "Dependable Interaction with an Intelligent Home Care Robot". In Proceedings of ICRA-Workshop on Technical Challenge for Dependable Robots in Human Environments, 2001, pp. IV-2.
Graf, B., Hostalet Wandosell, J. M.: "Flexible Path Planning for Nonholonomic Mobile Robots". In proceedings of Eurobot'01, pp. 199-206.
Graf, B.: "Reactive Navigation of an Intelligent Robotic Walking Aid". In proceedings of ROMAN-2001, pp. 353-358.
Haegele M., Schraft, R.D.; Neugebauer, J.: "From Robots to Robot Assistants". In Proceedings of the 32nd ISR (International Symposium on Robotics), pp. 404-409, 2001.
Hans, M.; Baum, W.: "Concept of a Hybrid Architecture for Care-O-bot". In proceedings of ROMAN-2001, pp. 407-411.
Schraft, R.D.; Graf, B.; Traub, A.; John, D.; " A Mobile Robot Platform for Assistance and Entertainment". In Industrial Robot Journal, Vol. 28, 2001, pp. 83-94.
2000Graf, B.; Schraft, R.D.; Neugebauer, J.: "A Mobile Robot Platform for Assistance and Entertainment", Proceedings of ISR-2000, Montreal, pp. 252-253.
1999Schaeffer, C.; May, T.: "Care-O-bot: A System for Assisting Elderly or Disabled Persons in Home Environments". In Proceedings of AAATE-99, Düsseldorf, 1999.
Traub, A.; Schraft, R.D.: "An Object-Oriented Realtime Framework for Distributed Control Systems"; in Proceedings of ICRA-99, pp. 3115-3121, 1999.
1998Schraft, R.D.; Schaeffer,C.; May,T.: "The Concept of a System for Assisting Elderly or Disabled Persons in Home Environments", Proceedings of the 24th IEEE IECON, Vol. 4 Aachen (Germany), 1998.
 Images and VideosImages and videos are available in the download area of the robot specific pages.
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