Mitarbeiter

Dr.-Ing. Daniel Kühn

Organisation : DFKI GmbH
Bereich : Robotics Innovation Center
Status : Forschungsbereichsmanager
Raumnr. HB : B 2.08
Adresse HB : Robert-Hooke-Str. 1
28359 Bremen
Telefon HB : +49 421 17845 4109
E-Mail schreiben


Publikationen

2025

Beyond Teleoperation: Autonomous-Assisted Soil Sampling for Decontamination in Hazardous Environments Using a Walking Excavator
Yuhan Jin, Haider Khan Lodhi, Fabian Maas genannt Bermpohl, Pierre Willenbrock, Christoph Hertzberg, Steffen Planthaber, Babu Ajish, Daniel Kuehn, Frank Kirchner
In 2025 IEEE International Symposium on Safety Security Rescue Robotics (SSRR), (SSRR-2025), 29.10.-31.10.2025, Galway, IEEE, Oct/2025.

2024

Charlie, a Hominidae Walking Robot
Daniel Kuehn, Alexander Dettmann, Moritz Schilling, Tobias Stark, Sankaranarayanan Natarajan
Editors: Shivesh Kumar, Andreas Mueller, Frank Kirchner
In Biologically Inspired Series-Parallel Hybrid Robots, Elsevier Science, 1. Auflage, volume 514, pages 235-261, Dec/2024. ISBN: 978-0-323-88482-2.
ARTER: a walking excavator robot
Babu Ajish, Pierre Willenbrock, Jannik Tiemann, Felix Bernhard, Daniel Kuehn
Editors: Shivesh Kumar, Andreas Mueller, Frank Kirchner
In Biologically Inspired Series-Parallel Hybrid Robots, Elsevier Science, 1. Auflage, volume 514, pages 235-261, Dec/2024. ISBN: 978-0-323-88482-2.

2023

KI-Technologie für Unterwasserroboter
Frank Kirchner, Sirko Straube, Daniel Kuehn, Nina Hoyer
Springer Vieweg, 1, Dec/2023. ISBN: 978-3-031-42368-0 / 978-3-031-42369-7 (eBook).

2022

From telepresence to autonomous systems
Steffen Planthaber, Daniel Kuehn, Kerstin Rohde, Christian Hartberger
In at - Automatisierungstechnik, De Gruyter Wissenschaftsverlag, volume 70, number 10, pages 912-917, Oct/2022.
ARTER: a walking excavator robot for autonomous and remote operations
Babu Ajish, Leon Cedric Danter, Pierre Willenbrock, Sankaranarayanan Natarajan, Daniel Kuehn, Frank Kirchner
In at - Automatisierungstechnik, De Gruyter, volume 70, number 10, pages 876-887, 2022.

2021

Unterstützung der Altlastensanierung durch moderne Robotersysteme
Philipp Woock, Daniel Kuehn, Steffen Planthaber
In 21. Karlsruher Altlastenseminar 2021, 18.5.-19.5.2021, Karlsruhe/Virtual, Arbeitskreis Grundwasserschutz e.V., May/2021.

2020

Machine Learning and Dynamic Whole Body Control for Underwater Manipulation
José de Gea Fernández, Christian Ott, Bilal Wehbe
In AI Technology for Underwater Robots, Springer International Publishing, pages 107-115, Oct/2020. ISBN: 978-3-030-30683-0.
Design and Evaluation of an Active Artificial Spine in a Hominid Robot
Daniel Kuehn, Alexander Dettmann, Frank Kirchner
In International Journal of Mechanical Engineering and Robotics Research, IJMERR, volume 9, pages 387-394, Mar/2020.
Control of Active Multi-Point-Contact Feet for Quadrupedal Locomotion
Alexander Dettmann, Daniel Kuehn, Frank Kirchner
In International Journal of Mechanical Engineering and Robotics Research, IJMERR, volume 9, pages 481-488, Mar/2020.
AI Technology for Underwater Robots
Editors: Frank Kirchner, Sirko Straube, Daniel Kühn, Nina Hoyer
Springer International Publishing, 1, volume 96, 2020. ISBN: e-book: 978-3-030-30683-0 hardcover: 978-3-030-30682-3.
A Survey of Challenges and Potentials for AI Technologies
Frank Kirchner
Editors: Frank Kirchner, Sirko Straube, Daniel Kuehn, Nina Hoyer
In AI Technology for Underwater Robots, Springer International Publishing, volume 96, pages 3-17, 2020. ISBN: 978-3-030-30682-3.
Robotersysteme für die Dekontamination in menschenfeindlichen Umgebungen
Philipp Woock, Nina F. Heide, Daniel Kuehn
In Proceeding at Leipziger Deponiefachtagung 2020, (LDFT-2020), 03.3.-04.3.2020, Leipzig, n.n., 2020.
An Interactive Strategic Mission Management System for Intuitive Human-Robot Cooperation
Elsa Andrea Kirchner, Hagen Langer, Michael Beetz
Editors: Frank Kirchner, Sirko Straube, Daniel Kuehn, Nina Hoyer
In AI Technology for Underwater Robots, Springer, pages 183-193, 2020. ISBN: 978-3-030-30682-3.

2019

MARS / EUROPA INPPS Flagship High Power Space Transportation
Frank Jansen, Benedikt Bergmann, Tim Brandt, Friedrich Damme, Emmanouil Detsis, Simona Ferraris, James AP Findlay, Ikkoh Funaki, Oliver Funke, Jan Thimo Grundmann, Lamartine Nogueira Frutuoso Guimaraes, Martin Hillebrandt, Anatoly S. Koroteev, Daniel Kühn, Jim C. Kuijper, Frederic Masson, Volker Maiwald, Jürgen Oberst, Stephane Oriol, Stanislav Pospisil, Martin Richter, Lars Schanz, Alexander V. Semenkin, Alexander E. Solodukhin, Ivan Stekl, Tim Tinsley, Maria Cristina Tosi, Ch. Waldmann, Jean-Claude Worms
In Proceedings of the 70th International Astronautical Congress, (IAC-2019), 21.10.-25.10.2019, Washington, D.C., o.A., Oct/2019.
Virtual Validation and Verification of the VaMEx Initative
Joern Teuber, Rene Weller, Luisa Buinhas, Daniel Kuehn, Philipp Dittmann, Abhishek Srinivas, Frank Kirchner, Roger Foerstner, Oliver Funke, Gabriel Zachmann
In Proceedings of the 16th International Planetary Probe Workshop, (IPPW-2019), 08.7.-12.7.2019, Oxford, o.A., 2019.
VaMEx-VTB – A Modular Virtual Tesbed for Multimodal Autonomous Planetary Missions
Joern Teuber, Rene Weller, Luisa Buinhas, Daniel Kuehn, Philipp Dittmann, Abhishek Srinivas, Frank Kirchner, Roger Foerstner, Oliver Funke, Gabriel Zachmann
In Proceeding of the 70th International Astronautical Congress, (IAC-2019), 21.10.-25.10.2019, Washington DC, DC, o.A., 2019.

2018

Advanced Robotic Systems in the Context of Future Space Exploration
Wiebke Brinkmann, Sebastian Bartsch, Roland U. Sonsalla, Florian Cordes, Daniel Kuehn, Frank Kirchner
In Proc. of. 69th International Astronautical Congress 2018, (IAC-2018), 01.10.-05.10.2018, Bremen, o. A., Oct/2018.
Exploration in Inaccessible Terrain Using Visual and Proprioceptive Data
Alexander Dettmann, Daniel Kuehn, Dominik Van Opdenbosch, Tobias Stark, Heiner Peters, Sankaranarayanan Natarajan, Sebastian Kasperski, Arne Böckmann, Adrian Garcea, Eckehard Steinbach, Frank Kirchner
In Proceedings of the 14th International Symposium on Artificial Intelligence, Robotics and Automation in Space, (iSAIRAS-2018), 04.6.-06.6.2018, Madrid, o.A., Jun/2018.
Analysis of Using an Active Artificial Spine in a Quadruped Robot
Daniel Kuehn, Alexander Dettmann, Frank Kirchner
In 2018 4th International Conference on Control, Automation and Robotics (ICCAR), (ICCAR-2018), 20.4.-23.4.2018, Auckland, IEEE Xplore online, Apr/2018.
Improved Locomotion Capabilities for Quadrupeds Through Active Multi-Point-Contact Feet
Alexander Dettmann, Daniel Kuehn, Frank Kirchner
In 2018 4th International Conference on Control, Automation and Robotics (ICCAR), (ICCAR-2018), 20.4.-23.4.2018, Auckland, IEEE, Apr/2018.
Modular Payload-Items for Payload-assembly and System Enhancement for Future Planetary Missions
Wiebke Brinkmann, Florian Cordes, Thomas M. Roehr, Leif Christensen, Tobias Stark, Roland Sonsalla, Roman Szczuka, Niklas Alexander Mulsow, Felix Bernhard, Daniel Kuehn
In Proceedings of the 2018 IEEE Aerospace Conference, 03.3.-10.3.2018, Big Sky, Montana, IEEE, Mar/2018.

2016

Multi-Funktionalität am Beispiel des hominiden Roboters Charlie
Daniel Kuehn
In Proceedings of the VDI-Zukunftskonferenz "Humanoide Roboter" 2016, 13.12.-14.12.2016, Munich, o.A., Dec/2016.
Design and development of a hominid robot with local control in its adaptable feet to enhance locomotion capabilities
Daniel Kuehn
pages 223, Robotics Innovation Center Robert-Hooke-Straße 1 28359 Bremen, Germany, Dec/2016. DFKI GmbH RIC.
System Design and Field Testing of the Hominid Robot Charlie
Daniel Kuehn, Moritz Schilling, Tobias Stark, Martin Zenzes, Frank Kirchner
In Journal of Field Robotics, n.a., volume 34, number Issue 4, pages 666-703, Apr/2016.

2015

VaMEx - Vipe: Exploration in schwer zugaenglichem Terrain anhand visueller und propriozeptiver Daten im Valles Marineris
Daniel Kuehn
series DFKI Documents, volume 15-03, pages 6, Sep/2015. DFKI GmbH.

2014

An Active Suspension System for a Planetary Rover
Florian Cordes, Christian Oekermann, Babu Ajish, Daniel Kuehn, Tobias Stark, Frank Kirchner
In Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2014), (iSAIRAS-2014), 17.6.-19.6.2014, Montreal, o.A., Jun/2014.
Distributed Computation in a Quadrupedal Robotic System
Daniel Kuehn, Felix Bernhard, Armin Burchardt, Moritz Schilling, Tobias Stark, Martin Zenzes, Frank Kirchner
In International Journal of Advanced Robotic Systems, InTechOpen, volume 11, pages 1-15, 2014.

2013

Towards an Active Spine for Mobile Robots
Daniel Kuehn, Frank Beinersdorf, Marc Simnofske, Felix Bernhard, Frank Kirchner
In 3rd IFToMM International Symposium on Robotics and Mechatronics, (ISRM-2013), 02.10.-04.10.2013, Singapur, Research Publishing Services, pages 28-34, Oct/2013.

2012

Intelligente Strukturen für mobile Robotersysteme
Felix Bernhard, Daniel Kuehn, Armin Burchardt, Kristin Fondahl, Lan Yue Ji, Moritz Schilling, Marc Simnofske, Tobias Stark, Martin Zenzes, Frank Kirchner
In Bionik: Patente aus der Natur; Tagungsband zum 6. Bionik-Kongress, (Bionik-2012), 26.10.-27.10.2012, Bremen, Gesellschaft für Technische Biologie und Bionik e.V., pages 158-162, Oct/2012. ISBN: 978-3-00-040885-4.
Additional DOFs and Sensors for Bio-inspired Locomotion: Towards Active Spine, Ankle Joints, and Feet for a Quadruped Robot
Daniel Kuehn, Frank Beinersdorf, Felix Bernhard, Kristin Fondahl, Moritz Schilling, Marc Simnofske, Tobias Stark, Frank Kirchner
In Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2012), (iSAIRAS-12), 04.9.-06.9.2012, Turin, o.A., Sep/2012.
An Adaptive Sensor Foot for a Bipedal and Quadrupedal Robot
Kristin Fondahl, Daniel Kuehn, Frank Beinersdorf, Felix Bernhard, Felix Grimminger, Moritz Schilling, Tobias Stark, Frank Kirchner
In Proceedings of IEEE International Conference on Biomedical Robotics and Biomechatronics, (BioRob-12), 24.6.-27.6.2012, Rome, IEEE, pages 2780-2786, Jun/2012.
Development of the six-legged walking and climbing robot SpaceClimber
Sebastian Bartsch, Timo Birnschein, Malte Langosz, Jens Hilljegerdes, Daniel Kuehn, Frank Kirchner
Editors: Sunjev Singh, Kazuya Yoshida, David Wettergreen
In Journal of Field Robotics, Wiley Subscription Services, volume Volume 29, Issue 3, Special Issue on Space Robotics, number Part 1, pages 506-532, Jun/2012.

2011

Additional DOFs and Sensors for Bio-inspired Locomotion: Towards Active Spine, Ankle Joints, and Feet for a Quadruped Robot
Daniel Kuehn, Felix Grimminger, Frank Beinersdorf, Felix Bernhard, Armin Burchardt, Moritz Schilling, Marc Simnofske, Tobias Stark, Martin Zenzes, Frank Kirchner
In In Proceedings of IEEE International Conference on Robotics and Biomemetics, (IEEE-ROBIO-11), 07.12.-11.12.2011, Phuket, o.A., pages 2780-2786, Dec/2011. ISBN: 978-1-4577-2137-3.

2010

Development of Passive Spine and Actuated Rear Foot for an Ape-Like Robot
Daniel Kuehn, Felix Bernhard, Felix Grimminger, Sven Simon, Frank Kirchner
Editors: H Fujimoto, M. O. Tokhi, H. Mochiyama, G. S. Virk
In Emerging Trends in Mobile Robotics, (CLAWAR-2010), 31.8.-03.9.2010, Nagoya, World Scientific Publishing Co. Pte. Ltd., pages 237-244, Aug/2010. ISBN: ISBN 13: 978-981-4327-97-8 ISBN 10: 981-4327-97-2.
SpaceClimber: Developement of a Six-Legged Climbing Robot for Space Exploration
Sebastian Bartsch, Timo Birnschein, Florian Cordes, Daniel Kuehn, Peter Kampmann, Jens Hilljegerdes, Steffen Planthaber, Malte Langosz, Frank Kirchner
In Proceedings for the joint conference of ISR 2010 (41st Internationel Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics), (ISR-2010), 07.6.-09.6.2010, Munich, VDE Verlag GmbH, Jun/2010. ISBN: 978-3-8007-3273-9.
Towards an Intelligent Foot for Walking and Climbing Robots
Florian Cordes, Sebastian Bartsch, Timo Birnschein, Daniel Kuehn, Frank Kirchner
In Proceedings for the joint conference of ISR 2010 (41st Internationel Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics), (ISR-2010), 07.6.-09.6.2010, Munich, VDE Verlag GmbH, pages 1-8, Jun/2010. ISBN: 978-3-8007-3273-9.

2009

Concept Evaluation of a New Biologically Inspired Robot LittleApe
Daniel Kuehn, Malte Langosz, Nina Sauthoff, Felix Grimminger, Frank Kirchner
In Conference Proceedings of IROS09. IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS-09), 11.10.-15.10.2009, St. Louis, MO, IEEE, pages 589-594, Oct/2009. ISBN: 978-1-4244-3804-4.
Towards a Biologically Inspired Ape-Like Robot
Daniel Kuehn, Nina Sauthoff, Felix Grimminger, Malte Langosz, Frank Kirchner
In Mobile Robotics - Solutions and Challenges, (CLAWAR-09), 09.9.-11.9.2009, Istanbul, World Scientific Publishing Co. Pte. Ltd., pages 165-172, Aug/2009. ISBN: 978-981-4291-26-2.
Robot Design for Space Missions using Evolutionary Computation
Malte Langosz, Daniel Kuehn, Frank Kirchner
In IEEE Congress on Evolutionary Computation, (IEEE CEC-2009), 18.5.-21.5.2009, Trondheim, -, 2009.
Terrain Recognition and Environment Modeling in Legged Robots
Timo Birnschein, Gokul Natarajan, Sebastian Bartsch, Florian Cordes, Daniel Kuehn, Frank Kirchner
In Proceedings of the 11th European Regional Conference of the International Society for Terrain-Vehicle Systems, (ISTVS-09), 05.10.-08.10.2009, Bremen, o.A., 2009.
Concept Evaluation of Modeling Terrain Mechanics by a Neural Network
Malte Langosz, Daniel Kuehn, Florian Cordes, Yong-Ho Yoo, Frank Kirchner
In Proceedings of the 11th European Regional Conference of the International Society for Terrain-Verhicle Systems, (ISTVS-09), 05.10.-10.10.2009, Bremen, o.A., 2009.


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