Staff

Dr.-Ing. Dennis Mronga

Organization : DFKI GmbH
Area : Robotics Innovation Center
Status : Staff
Room HB : B 1.15
Address HB : Robert-Hooke-Str. 1
28359 Bremen
Phone HB : +49 421 17845 6560
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Publications

2025

Parallel Transmission Aware Co-Design: Enhancing Manipulator Performance Through Actuation-Space Optimization
Rohit Kumar, Melya Boukheddimi, Dennis Mronga, Shivesh Kumar, Frank Kirchner
In 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS-2025), 19.10.-25.10.2025, Hangzhou, IEEE, Oct/2025.
Quadrupeds for Planetary Exploration: Field Testing Control Algorithms on an Active Volcano
Shubham Vyas, Franek Stark, Rohit Kumar, Hannah Isermann, Jonas Haack, Mihaela Popescu, Jakob Middelberg, Dennis Mronga, Frank Kirchner
In 18th Symposium on Advanced Space Technologies in Robotics and Automation, (ASTRA-2025), 7.10.-9.10.2025, Leiden, ESA, Oct/2025. ESA.
Benchmarking Different QP Formulations and Solvers for Dynamic Quadrupedal Walking
Franek Stark, Jakob Middelberg, Dennis Mronga, Shubham Vyas, Frank Kirchner
In 2025 IEEE International Conference on Robotics and Automation (ICRA), (ICRA-2025), IEEE, 2025.
Trajectory planning system for bimanual robots: Achieving efficient collision-free manipulation
Francisco José Martínez-Peral, Jorge Borrell Mendez, Dennis Mronga, José Vicente Segura-Heras, Carlos Perez-Vidal
In Robotics and Autonomous Systems, Elsevier, volume -, pages ---, 2025.
Collision-Free Robotic Manipulation: A Review and Bibliometric Analysis
Francisco José Martínez-Peral, Jose Antonio Ferez-Rubio, Dennis Mronga, José de Gea Fernández, José Vicente Segura-Heras, Carlos Perez Vidal
In International Journal of Systems Science, Taylor & Francis, volume -, pages 1-24, 2025.
An adaptive hierarchical control framework for quadrupedal robots in planetary exploration
Franek Stark, Rohit Kumar, Shubham Vyas, Hannah Isermann, Jonas Haack, Mihaela Popescu, Jakob Middelberg, Dennis Mronga, Frank Kirchner
In Proceedings of 18th Symposium on Advanced Space Technologies in Robotics and Automation, (ASTRA-2025), 07.10.-09.10.2025, Leiden, ESA, 2025. ESA.
Reinforcement Learning for Robust Athletic Intelligence: Lessons from the 2nd 'AI Olympics with RealAIGym' Competition
Felix Wiebe, Niccolò Turcato, Alberto Dalla Libera, Jean Seong Bjorn Choe, BumKyu Choi, Tim Lukas Faust, Habib Maraqten, Erfan Aghadavoodi, Marco Calì, Alberto Sinigaglia, Giulio Giacomuzzo, Diego Romeres, Jong-Kook Kim, Gian Antonio Susto, Shubham Vyas, Dennis Mronga, Boris Belousov, Jan Peters, Frank Kirchner, Shivesh Kumar
In Computing Research Repository eprint Journal, arXiv, volume abs/2503.15290, pages 1-8, 2025.
InEKFormer: A Hybrid State Estimator for Humanoid Robots
Lasse Hohmeyer, Mihaela Popescu, Ivan Bergonzani, Dennis Mronga, Frank Kirchner
In Proceedings of IEEE International Conference on Advanced Robotics (ICAR), (ICAR), San Juan, IEEE, 2025.

2024

Online-Adaptive Anomaly Detection for Defect Identification in Aircraft Assembly
Siddhant Shete, Dennis Mronga, Ankita Jadhav, Frank Kirchner
In 20th International Conference, (CASE-2024), 28.8.-01.9.2024, Bari, Puglia, IEEE, Nov/2024. ISBN: 979-8-3503-5851-3.
MARLIN: A cloud integrated robotic solution to support intralogistics in retail
Dennis Mronga, Andreas Bresser, Fabian Maas genannt Bermpohl, Adrian Danzglock, Simon Stelter, Alina Hawkin, Hoang Giang Nguyen, Michael Beetz, Frank Kirchner
In Robotics and Autonomous Systems, ScienceDirect, volume o.A., pages o.A., Feb/2024.
Gaussian Mixture Likelihood-based Adaptive MPC for Interactive Mobile Manipulators
Dimitrios Rakovitis, Dennis Mronga
In 2024 IEEE International Conference on Robotics and Automation (accepted for publication), (ICRA-2024), 13.3.-17.3.2024, Yokohama, IEEE, 2024.
Whole-body control
Dennis Mronga, Shivesh Kumar, Frank Kirchner
In Biologically Inspired Series-Parallel Hybrid Robots, Elsevier, chapter 9, 2024. ISBN: 978-0-323-88482-2.
The ARC-OPT Library for Whole-Body Control of Robotic Systems
Dennis Mronga, Frank Kirchner
In Journal of Open Source Software, The Open Journal, volume 9, number 104, pages *-*, 2024.

2022

Experimental Investigations into Using Motion Capture State Feedback for Real-Time Control of a Humanoid Robot
Mihaela Popescu, Dennis Mronga, Ivan Bergonzani, Shivesh Kumar, Frank Kirchner
In Sensors - Open Access Journal, Multidisciplinary Digital Publishing Institute (MDPI), volume 22, number 24, pages 1-12, Dec/2022.
Learning Task Constraints for Whole-Body Control of Robotic Systems
Dennis Mronga
May/2022. Universität Bremen.
Whole-Body Control of Series-Parallel Hybrid Robots
Dennis Mronga, Shivesh Kumar, Frank Kirchner
In IEEE International Conference on Robotics and Automation (ICRA), (ICRA-2022), 23.5.-27.5.2022, Philadelphia, IEEE, pages 228-234, 2022.
Introducing RH5 Manus: A Powerful Humanoid Upper Body Design for Dynamic Movements
Melya Boukheddimi, Shivesh Kumar, Heiner Peters, Dennis Mronga, Rohan Budhiraja, Frank Kirchner
In IEEE International Conference on Robotics and Automation (ICRA), (ICRA-2022), 23.5.-27.5.2022, Philadelphia, IEEE, pages 01-07, 2022. ISBN: 978-1-7281-9681-7.

2021

Learning context-adaptive task constraints for robotic manipulation
Dennis Mronga, Frank Kirchner
In Robotics and Autonomous Systems, Elsevier, volume 141, pages 103779-103779, Jul/2021.

2020

A Constraint-Based Approach for Human-Robot Collision Avoidance
Dennis Mronga, Tobias Knobloch, José de Gea Fernández, Frank Kirchner
In Advanced Robotics, Taylor & Francis Online, volume 0, pages 1-17, 2020.

2018

Towards Contextual Robots for Collaborative Manufacturing
Jose de Gea Fernandez, Dennis Mronga, Martin Günther, Sebastian Stock, Nils Niemann, Hendrik Wiese, Rohit Menon, Elsa Andrea Kirchner, Stefan Stiene
Editors: Valerio Ortenzi, Marco Controzzi
In Poster at the Workshop "Human-Robot Cooperation and Collaboration in Manipulation: Advancements and Challenges" at 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)., 01.10.-05.10.2018, Madrid, o.A., 2018.
Hybr-iT Project: Initial Steps Towards Contextual Robotic Manipulation for Human-Robot Teams in Industrial Environments
José de Gea Fernández, Nils Niemann, Sebastian Stock, Martin Günther, Dennis Mronga, Hendrik Wiese, Rohit Menon, Elsa Andrea Kirchner, Stefan Stiene
Poster at the 21st International Conference of the Catalan Association for Artificial Intelligence (CCIA 2018), 2018.

2017

Multimodal Sensor-Based Whole-Body Control for Human-Robot Collaboration in Industrial Settings
José de Gea Fernández, Dennis Mronga, Martin Günther, Tobias Knobloch, Malte Wirkus, Martin Schröer, Mathias Trampler, Stefan Stiene, Elsa Andrea Kirchner, Vinzenz Bargsten, Timo Bänziger, Johannes Teiwes, Thomas Krüger, Frank Kirchner
In Robotics and Autonomous Systems, Elsevier, volume 94, pages 102-119, Aug/2017.
iMRK: Demonstrator for Intelligent and Intuitive Human--Robot Collaboration in Industrial Manufacturing
José de Gea Fernández, Dennis Mronga, Martin Günther, Malte Wirkus, Martin Schröer, Stefan Stiene, Elsa Kirchner, Vinzenz Bargsten, Timo Bänziger, Johannes Teiwes, Thomas Krüger, Frank Kirchner
In KI - Künstliche Intelligenz, German Journal on Artificial Intelligence - Organ des Fachbereiches "Künstliche Intelligenz" der Gesellschaft für Informatik e.V., Springer, volume 31, number 2, pages 203-207, May/2017.
Robotic manipulation for the shoe-packaging process
Luis Gracia, Carlos Perez Vidal, Dennis Mronga, Jose Manuel de Paco, Jose Maria Azorin, Jose de Gea Fernandez
In International Journal of Advanced Manufacturing Technology, In International Journal of Advanced Manufacturing Technology, Springer, volume 92, pages 1053-1067, Mar/2017. ISBN: DOI: 10.1007/s00170-017-0212-6.

2016

Hybrid Teams of Humans, Robots and Virtual Agents in a Production Setting
Tim Schwartz, Michael Feld, Christian Bürckert, Svilen Dimitrov, Joachim Folz, Peter Hevesi, Dieter Hutter, Bernd Kiefer, Hans-Ulrich Krieger, Christoph Lüth, Dennis Mronga, Gerald Pirkl, Torsten Spieldenner, Malte Wirkus, Ingo Zinnikus, Sirko Straube
In Proceedings of the 12th International Conference on Intelligent Environments, (IE-16), 12.9.-13.9.2016, London, IEEE, Sep/2016.

2015

Towards Describing and Deploying Whole-Body Generic Manipulation Behaviours
José de Gea Fernández, Dennis Mronga, Malte Wirkus, Vinzenz Bargsten, Behnam Asadi, Frank Kirchner
In 2015 Space Robotics Symposium, 29.10.-30.10.2015, Glasgow, IET, University of Strathclyde, 2015.

2014

iTaSC: Application and Rock Integration – Specification and Control of Complex Sensor-Based Tasks
Dennis Mronga
In Proceedings of the RIC Project Day "Framework & Standardization" and "Manipulation & Control", 19.6.2014, Selbstverlag, Bremen, series DFKI Documents, volume 14-03 , number 14-03, pages 126-127, Jun/2014. DFKI GmbH. ISBN: ISSN 0946-0098.

2013

Motion Control of the Humanoid Robot AILA
Dennis Mronga, Achint Aggarwal
series DFKI Research Reports, volume 13-03, pages 24, May/2013. Robotics Innovation Center Bremen.
A Robotic Platform for Building and Exploiting Digital Product Memories
Johannes Lemburg, Dennis Mronga, Achint Aggarwal, José de Gea Fernández, Marc Ronthaler, Frank Kirchner
In SemProM - Foundations of Semantic Product Memories for the Internet of Things, Springer, pages 91-106, May/2013. ISBN: 978-3-642-37376-3.

2011

AILA - Design of an autonomous mobile dual-arm robot
Johannes Lemburg, José de Gea Fernández, Markus Eich, Dennis Mronga, Peter Kampmann, Andreas Vogt, Achint Aggarwal, Yuping Shi, Frank Kirchner
In Proceedings of IEEE International Conference on Robotics and Automation, (ICRA-11), 09.5.-15.5.2011, Shanghai, o.A., pages 5147-5153, May/2011. ISBN: 978-1-61284-380-3.
AILA - ein Dual-Arm Roboter für die Logistik
Marc Ronthaler, Achint Aggarwal, Dennis Mronga, Markus Eich
In Industrie Management - Zeitschrift für industrielle Geschäftsprozesse, GITO Verlag, volume 01/2011, pages 35-38, Feb/2011.

2010

Robust feature extraction for 3D reconstruction of boundary segmented objects in a robotic Library scenario
Sorin M. Grigorescu, Saravana K. Natarajan, Dennis Mronga, Axel Gräser
In 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS), IEEE, pages 4540-4547, 2010.


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last updated 12.01.2024