Weitere Publikationen


Kirchner, F.; Spenneberg, D.; Linnemann, R.: In Neurotechnology for Biomimetic Robots. A biologically inspired approach towards robust real world locomotion in an 8-legged robot. Editors Ayers, J.; Davis, J.; Rudolph, A.. MIT-Press. pages , Cambridge, MA, USA, 2002.

Klaassen, B.; Linnemann, R.; Spenneberg, D.; Kirchner, F.: Biomimetic walking robot SCORPION: Control and modeling. Robotics and autonomous systems, number 41 (2-3), pages 69-76, 2002.

Klaassen, B.; Streich, H.; Rome, E.; Kirchner, F.: Simulation and Control of the Segmented Inspection Robot MAKRO. Robotik 2002, VDI-Bericht, volume 1679, pages 611-616, 2002.

Spenneberg, D.; Kirchner, F.: SCORPION: A biomimetic walking robot. Robotik 2002, VDI-Bericht, pages 677-682, 2002.

Worst, R.; Kirchner, F.: KURT2 - Eine mobile Plattform für die Robotikforschung. Robotik 2002, VDI-Bericht, volume 1679, pages 389-394, 2002.


Köpke, I.; Kirchner, F.; Heinzel, H.-G.; Böhm, H.: Scorpions walking in the sand. In The 6th International Congress of Neuroethology, pages 393, 2001.

Köpke, I.; Kirchner, F.; Heinzel, H.-G.; Böhm, H.: Scorpions walking on difficult terrain. In Proceedings of the 94th Annual Meeting, Editors Zissler, D. (Zoology): pages 47, 2001.

Kirchner, F.; Spenneberg, D.: Omni-Directional Walking in Multi-Pod-Robots Based on Feedback Driven Oscillators and Local Reflex Mechanisms. In Eurobot '01 Fourth European Workshop on Advanced Mobile Robots, Editors Arras, K. O.: pages 133-137, 2001.

Kirchner, F.; Spenneberg, D.: Omni-directional walking in multi-pod-robots based on feedback driven oscillators and local reflex mechanisms. In Proceedings of the fourth International Conference on Climbing and Walking Robots, Editors Berns, K.: pages 643-650, 2001.

Klaassen, B.; Linnemann, R.; Spenneberg, D.; Kirchner, F.: Biomimetic Walking Robot Scorpion: Control and Modeling. In Proceedings of the 9th International Symposium on Intelligent Robotic Systems, Editors Devy, M.: pages 101-108, 2001.

Klaassen, B.; Streich, H.; Kirchner, F.; Rome, E.: Modeling, Simulation, and Control of a Segmented Inspection Robot. In 3rd Middle East Symposium on Simulation and Modelling, Editors Al-Akaidi, M.: pages 53-56, 2001.

Linnemann, R.; Klaassen, B.; Kirchner, F.: Walking Robot Scorpion - Experiences with a full parametric Model. In Modelling and Simulation 2001, Editors Kerckhoffs, E. J. H.: pages 1012-1018, 2001.

Spenneberg, D.; Kirchner, F.: An Approach towards Autonomous Outdoor Walking Robots. In Proceedings of the 10th International Conference on Advanced Robotics (ICAR 2001), Editors Bejczy, A. K. : pages 485-490, 2001.


Kirchner, F., Klaassen, B.; Christaller, T.: Natur und Robotik (Konstruktion und Bewegung bei Sechs- und Acht-Beinern). Der GMD-Spiegel, number 3/4, pages 30-32, 2000.

Kirchner, F.; Richter, C.: Q-Surfing: Exploring a World Model by Significance Values in Reinforcement Learning Tasks. In Frontiers in artificial intelligence and applications, AI 2000, Horn, W., pages 311-315, 2000.

Paap, K. L.; Christaller, T.; Kirchner, F.: A Robot Snake to Inspect Broken Buildings. In Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000), pages 2079-2082, 2000.

Spenneberg, D.; Kirchner, F.: Omnidirectional Walking in an Eight Legged Robot. In Proceedings of the 2nd International Symposium on Robotics and Automation, Editors Mayorga, R. V.: pages 108-114, 2000.

Streich, H.; Schmitz, A.; Hertzberg, J.; Kirchner, F.: Implementierung der höheren Steuerung einer mehrsegmentigen autonomen Kanalroboterplattform. Robotik 2000 (VDI-Berichte), pages 209-214, 2000.


Hertzberg, J.; Kirchner, F.; Licht, U.; Rome, E.; Schönherr, F.; Christaller, T.: MAKRO - Bau einer mehrsegmentigen autonomen Kanalroboterplattform. In Pipiline Integrity 2013 Uneingeschränkte Verfügbarkeit und unbegrenzte Nutzungsdauer von Rohrleitungen und Rohrnetzen?, Editors Lenz, J.: Vulkan-Verlag Essen, pages 504-513, 1999.

Kirchner, F.: Development of Terrestrial Ambulatory Autonomous Robots. In Proc. 2nd DARPA-CBS Workshop on controlled biological systems, Tuscon, Arizona, USA, 1/1999.

Kirchner, F.: Scorpion - 25 Meilen autonom durch die Wüste. GMD-Spiegel, 4/1999. ISSN 0724-4339.

Paap, K. L.; Kirchner, F.; Klaassen, B.: Motion Control Scheme for a Snake-Like Robot. In IEEE International Symposium on Computational Intelligence in Robotics and Automation, Monterey, California, 1999. CIRA'99.

Paap, K. L.; Klaassen, B.; Kirchner, F.: Eine Roboterschlange für schwierige Inspektionen. GMD-Spiegel, 4/1999. ISSN 0724-4339.


Hertzberg, J. ; Christaller, Th., Kirchner, F., Licht, U.; Rome, E.: Sewer Robotics. In Proceedings From Animals to Animats 5, Editors Pfeifer, R.; Blumberg, B., Meyer, J.-A.; Wilson, S.W.: MIT Press, pages 427-436, 1998. 5th Intl. Conf. On Simulation of Adaptive Behavior (SAB-98).

Hertzberg, J.; Christaller, Th.; Kirchner, F.; Licht, U.; Rome, E.: MAKRO - Serviceroboter im Kanalbetrieb. In 12. Oldenburger Rohrleitungsforum, Editors Lenz, J.: Vulkan-Verlag Essen, 1998.

Hertzberg, J.; Christaller, Th.; Kirchner, F.; Licht, U.; Rome, E.: MAKRO - Serviceroboter im Kanalbetrieb. In Globalisierung der Märkte und internationale Arbeitsteilung - auch im Rohrleitungsbau?, Editors Lenz, J.: Vulkan-Verlag Essen, pages 643-652, 1998.

Kirchner, F.: Reinforcement Learning and Abstraction on a six-legged walking machine. In Proceedings NIPS98, Workshop on Hierarchy and Abstraction, Breckenridge, CO, USA, 11/1998.

Kirchner, F.: Q-Learning of complex behaviors on a six-legged walking Machine. Journal of Robotics and Autonomous Systems, volume 25, pages 256-263, 1998. Elsevier Science Publishers, Amsterdam Netherlands.


Kirchner, F.: Q-Learning of Complex Behaviors on a Six-Legged Walking Machine. In Proceedings of the second Euromicro Workshop on Advanced Mobile Robots, EUROBOT-97, Editors Cassinis, R. ; Joerg, K.: Los Alamitos, pages 51-59, Brescia, Italy, 10/1997. IEEE Computer Society. IEEE Order Number PR08174, ISBN 0-8174-8.

Kirchner, F.; Hertzberg, J.: In Autonomous Robots. A Prototype Stydy of An Autonomous Robot Platform for Sewerage System Maintenance. Editors Bekey, G.. Kluwer Academic Publishers. volume 4, number 4, pages 319-333, Netherlands, 1997. ISSN: 0929-5593.


Hertzberg, J.; Christaller, Th.; Kirchner, F.; Licht, U.: Mit Informatik in den Gully - Vom Handhabungsautomaten zum Serviceroboter. GMD Spiegel, volume 96, number 4, pages 32-35, 1996.

Hertzberg, J.; Kirchner, F.: Landmark-Based Autonomous Navigation in Sewerage Pipes. In Proceedings of the First Euromicro Workshop on Advanced Mobile Robots (EUROBOT `96), IEEE Press, pages 68-73, 1996.

Hertzberg, J.; Kirchner, F.: Verfolgen von Pfadplänen in Rohrleitungssystemen. In Proceedings in Artificial Intelligence, Planen und Konfigurieren 96, PuK-96, Editors Sauer, J.; Günter, A.; Hertzberg, J.: pages 231-235, Bonn, Germany, 4/1996. Infix Verlag. ISSN 0947-449X, ISBN 3-929037-97-1.

Kirchner, F.: In Arbeitspapiere der GMD 989. KURT: A Prototype Study of an Autonomous Mobile Robot for Sewerage System Inspection. Editors Christaller, T.. GMD Forschungszentrum Informationstechnik GmbH. pages 32, St Augustin, Germany, 4/1996. ISSN 0723-0508.

Kirchner, F.: Hierarchical Reinforcement Learning. In Proceedings AAAI-96 Fall Symposium Series on Learning Complex Behaviours in Adaptive Intelligent Systems, Editors Kassif, S.; Russel, S.: AAAI Press, pages 10-18, Cambridge, Massachusetts, 9/1996. Massachusetts Institute of Technology (MIT).

Kirchner, F. ; Hertzberg, J.: On Design and Control of a Mobile Robot System for Sewerage Network Maintenance. In Proceedings of the EWLR-5, MLnet Familiarization Workshop and 5th European Workshop on Learning Robots, Editors Klingspor, V.: pages 45-53, Bari, Italy, 7/1996. The Network of Excellence in Machine Learning, University of Dortmund.


Kirchner, F.: Learning to solve Markovian Decision Tasks in a Hierarchy of Learning Agents. In Proceedings of the 10 th bienanial Conference on AI and Cognitive Science AISB, Prescott, T.; Hallam, J., pages 43-49, Sheffield, England, 4/1995. Society for the Study of Artificial Intelligence and Simulation of Behaviour.

Kirchner, F.: Automatic Decomposition of Reinforcement Learning Tasks. In Proceedings of the AAAI 95 Fall Symposium Series on Active Learning, Editors Cohn, D.: AAAI Press, pages 56-59, Cambridge, Massachusetts, USA, 11/1995. Massachusetts Institute of Technology (MIT).

Kirchner, F.; Moeller, K.: In Beiträge zum 7. Fachgruppentreffen 'Maschinelles Lernen' der GI-Fachgruppe 1.1.3, Forschungsbericht Nr. 850. Q-Learning Markovian Decision Tasks. Editors Morik, K.; Herrmann, J.. Dekanat Informatik der Universität Dortmund. pages 52-58, Dortmund, Germany, 8/1995. ISSN 0933-6192.


Contzen, M.; Kirchner, F.; Moeller, K.: ARC: How much planning do we need?. In KI-94, Workshops, Extended Abstracts. Editors Kunze, J.; Stoyan, H.. GI. Gesellschaft für Informatik e.V., pages 382-383, 1994.



Diedrich, Drescher, J.; Nilishiti, V.; Kirchner, F.: Acute Effects of Simulated Microgravity on Heart Rate Variability. The Physiologist, 1993.

Kirchner, F.; Diedrich, A.; Drescher, J.: Online Analysis of Cardiovascular Reaction Patterns. In Proceedings of the 2nd European Conference on Engineering and Medicine, Editors Beneken, J. ; Faust, U.: Elsevier Science Publishers, Amsterdam, pages 397-398, Stuttgart, Germany, 9/1993.


Baisch, F.; Beck, L.; Kirchner, F.: Software Package for Real Time Analysis of Physiological Signals. In Proceedings of the 1st European Conference on Biomedical Engineering, Editors Beneken, J. ; Faust, U.: Elsevier Science Publishers, Amsterdam, pages 39 ff, Nice, France, February/1991.

Baisch, F.; Beck, L.; Kirchner, F.; Loyola, D.: LBNP as countermeasure: an automated scenario. In Proceedings of the 4th European Symposium on Space Environmental and Control Systems, pages 1045-1048, Florence, Italy, October/1991. ESA SP-324.


Kirchner, F. ; Beck, L.; Baisch, F.: Parallel CISC Architecture in Medical Research. In Proceedings of the 12th annual international conference IEEE, Engeneering in Medicine and Biology Society, pages 242-248, Philadelphia, USA, 11/1990. IEEE Engineering in Medicine and Biology Society.

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