Selected Publications on Research in Humanoid and Four-Legged Robots

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

T. Hemker, H. Sakamoto, M. Stelzer, O. von Stryk
Efficient walking speed optimization of a humanoid robot
In: International Journal of Robotics Research, pp. accepted for publication, 2008
(No PDF File) | BibTeX

D. Becker, M. Risler
Mutual localization in a team of autonomous robots using acoustic robot detection
In: RoboCup International Symposium, July 15-18, 2008
PDF file (270 kB) | 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
Scalable and adequate simulation for motion and sensors of heterogeneous teams of autonomous mobile robots
In: Proc. 1st Intl. Conf. on Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2008), (Ed. S. Carpin et al.), pp. to appear, Springer, November, 2008
(No PDF File) | 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

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), pp. to appear, 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
(No PDF File) | BibTeX

Matthias Jüngel, Max Risler
Self-Localization Using Odometry and Horizontal Bearings to Landmarks
In: RoboCup 2007: Robot Soccer World Cup XI, (Ed. U. Visser and F. Ribeiro and T. Ohashi and F. Dellaert), Springer, 2007
PDF file (1.51 MB) | BibTeX

C. Reinl, O. von Stryk
Optimal Control of Cooperative Multi-Robot Systems Using Mixed-Integer Linear Programming
In: Proc. RoboMat 2007, (Ed. Centro Internacional de Mathematica), pp. 145 - 151, Sept. 17-19, 2007
PDF file (202 kB) | 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

T. Röfer, J. Brose, D. Göhring, M. Jüngel, T. Laue, M. Risler
GermanTeam 2007 - The German National RoboCup Team
2007
PDF file (341 kB) | BibTeX

Marcus Schobbe und Patrick Stamm
ModulareWeltmodellierung 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

Th. 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

M.Glocker, C. Reinl, O. von Stryk
Optimal task allocation and dynamic trajectory planning for multi-vehicle systems using nonlinear hybrid optimal control
In: Proc. 1st IFAC-Symposium on Multivehicle Systems, pp. 38-43, October 2-3, 2006
PDF file (499 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

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

R. Brunn, M. Kunz
Ein globales Sichtsystem zur Unterstützung der Entwicklung autonomer Fußballroboter
Diplomarbeit 2005
PDF file (8.61 MB) | BibTeX

Marc Dassler
Gegnererkennung und -modellierung für Passspiel in der 4-legged RoboCup League
Diplomarbeit 2005
PDF file (2.47 MB) | 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

T. Röfer, T. Laue, H.-D. Burkhard, J. Hoffmann, M. Jüngel, D. Göhring, M. Lötzsch, U. Düffert, M. Spranger, B. Altmeyer, V. Goetzke, O. von Stryk, R. Brunn, M. Dassler, M. Kunz, M. Risler, M. Stelzer, D. Thomas, S. Uhrig, U. Schwiegelshohn, I. Dahm, M. Hebbe, W. Nistico, C. Schumann, M. Wachter
GermanTeam 2004, Technical Report of the RocoCup-Team in the Sony Legged Robot League
2004
PDF file (11.99 MB) | BibTeX

Robert Höpler
A unifiying 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

Martin Kallnik
Sensordatensynchronisation zum Aufbau eines Navigationskalmanfilters für die mobile Robotik
Diplomarbeit 2004
PDF file (3.06 MB) | 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: Third IEEE International Conference on Humanoid Robots, pp. to appear, Springer Verlag, Sept. 30 - Oct. 3, 2003
(No PDF File) | BibTeX

T. Röfer, H.-D. Burkhard, U. Düffert, J. Hoffmann, D. Göhring, M. Jüngel, M. Lötzsch, O. von Stryk, R. Brunn, M. Kallnik, M. Kunz, S. Petters, M. Risler, M. Stelzer, I. Dahm, M. Wachter, K. Engel, A. Osterhues, C. Schumann, J. Ziegler
GermanTeam 2003
Technical Report of the RocoCup-Team in the Sony Legged Robot League, Humboldt-Universität Berlin, Universität Bremen, Technische Universität Darmstadt, Universität Dortmund, 2003
PDF file (4.58 MB) | BibTeX

I. Dahm, U. Düffert, J. Hoffmann, M. Jüngel, M. Kallnik, M. Lötzsch, M. Risler, T. Röfer, M. Stelzer, J. Ziegle
German Team 2003
Team Description Paper, Humboldt-Universität Berlin, Universität Bremen, Technische Universität Darmstadt, 2003
PDF file (297 kB) | BibTeX

M. Hardt, O. von Stryk
Dynamic modeling in the simulation, optimization and control of legged robots
In: ZAMM: Zeitschrift für Angewandte Mathematik und Mechanik, 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
(No PDF File) | 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

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

H.-D. Burkhard, U. Düffert, J. Hoffmann, M. Jüngel, M. Lötzsch, R. Brunn, M. Kallnik, N. Kuntze, M. Kunz, S. Petters, M. Risler, O. v. Stryk, N. Koschmieder, T. Laue, T. Röfer, K. Spiess, A. Cesarz, I. Dahm, M. Hebbel, W. Nowak, J. Ziegler
German Team 2002
Technical Report of the RocoCup-Team in the Sony Legged Robot League, Humboldt-Universität Berlin, Universität Bremen, Technische Universität Darmstadt, 2002
(No PDF File) | 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
PDF file (858 kB) | BibTeX

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, 2002
PDF file (281 kB) | BibTeX

H.-D. Burkhard, U. Düffert, M. Jüngel, M. Lötzsch, N. Koschmieder, T. Laue, T. Röfer, K. Spiess, O. von Stryk, A. Sztybryc, R. Brunn, M. Risler
GermanTeam 2001
Technical Report of the RocoCup-Team in the Sony Legged Robot League, Humboldt-Universität Berlin, Universität Bremen, Technische Universität Darmstadt, 2001
PDF file (2.05 MB) | BibTeX

R. Brunn, U. Düffert, M. Jüngel, T. Laue, M. Lötzsch, S. Petters, M. Risler, T. Röfer, K. Spiess, A. Sztybryc
GermanTeam 2001
In: RoboCup 2001: Robot Soccer World Cup V. - Lecture Notes in Artificial Intelligence, (Ed. A. Birk, A. Coradeschi, S. Tadokoro), Vol. 2377, pp. 705-708, Springer-Verlag, 2001
PDF file (133 kB) | BibTeX

M. Hardt, O. von Stryk
Towards optimal hybrid control solutions for gait patterns of a quadruped
In: Proc. CLAWAR 2000 - 3rd International Conference on Climbing and Walking Robots, (Ed. M. Armada, P. Gonzalez de Santos), pp. 385-392, Bury St. Edmunds and London, UK: Professional Engineering Publishing, Oktober 2 - 4, 2000
PDF file (86 kB) | BibTeX