Staff

Prof. Dr. Dr. h.c. Frank Kirchner

Organization : DFKI GmbH & Universität Bremen
Areas : Robotics Innovation Center
Arbeitsgruppe Robotik
Status : Geschäftsführender Direktor
Leitung Robotics Innovation Center
Leitung Arbeitsgruppe Robotik
Scientific Director of Brazilian Institute of Robotics
Room HB : B 2.10
Address HB : Robert-Hooke-Str. 1
28359 Bremen
Phone HB : +49 421 17845 4101
Write an email


Publications

2026

Exoskeleton based microgravity simulation for astronaut training
Mathias Trampler, Marc Tabie, Frank Kirchner, Elsa Andrea Kirchner
In MDPI Engineering Proceedings (E-ISSN 2673-459), (EASN-2025), 14.10.-17.10.2025, Madrid, MDPI, 2026.

2025

Adversarial Priors Unleashed with Soft Actor Critic
Nayari Lessa, Melya Boukheddimi, Frank Kirchner
In Women in Machine Learning Workshop (WiML 2025) at NeurIPS, (NeurIPS-2025), 02.12.-07.12.2025, San Diego, USA, n.n., Dec/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.
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.
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.
Trajectory Optimization and Control of Hydrobatic Out-of-Water Maneuvers for Icy Moon Exploration
Lukas Skuras, Shubham Vyas, Bilal Wehbe, 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.
Unlocking the Potential of Soft Actor-Critic for Imitation Learning
Nayari Lessa, Melya Boukheddimi, Frank Kirchner
In ArXiv e-prints, n.n., volume 8, pages 1-8, Oct/2025.
Iterative Linear Quadratic Regulator for Quantum Optimal Control
Dirk Heimann, Felix Wiebe, Tahereh Abad, Elie Mounzer, Tangyou Huang, Frank Kirchner, Shivesh Kumar
In Proceedings of the Sixth IEEE International Conference on Quantum Computing and Engineering, (QCE-2025), 31.8.-05.9.2025, Albuquerque, New Mexico, IEEE Xplore, Sep/2025.
Exploration of Design Alternatives for Reducing Idle Time in Shor’s Algorithm: A Study on Monolithic and Distributed Quantum Systems
Moritz Schmidt, Abhoy Kole, Leon Wichette, Rolf Drechsler, Frank Kirchner, Elie Mounzer
In IEEE Transactions on Quantum Engineering, IEEE, volume 6, pages o.A.-o.A., Sep/2025.
Cooperative robotic exploration of a planetary skylight surface and lava cave
Raúl Domínguez, Carlos Pérez-del-Pulgar, Gonzalo J. Paz-Delgado, Fabio Polisano, Jonathan Babel, Thierry Germa, Iulia Dragomir, Valérie Ciarletti, Anne-Claire Berthet, Leon Cedric Danter, Frank Kirchner
In Science Robotics, American Association for the Advancement of Science (AAAS), volume 10, number 105, pages 1-14, Aug/2025.
Continuous learning of contact episodes from proprioceptive sensors in industrial assembly scenarios using Adaptive Resonance Theory
Vinzenz Bargsten, Dimitrios Rakovitis, Vamsi Krishna Origanti, Adrian Danzglock, Frank Kirchner
In Proceedings of the 7th International Conference on Intelligent and Fuzzy Systems - INFUS2025, (INFUS-2025), 29.7.-31.7.2025, Istanbul, Springer, volume 1531, pages 324-349, Jul/2025. ISBN: 978-3-031-98303-0.
NoStrandAMust Dataset
Malte Wirkus, Malte Langosz, Jungmin Lim, Abhijit Krishnananda Kamath, Julian Liersch, Marc Otto, Kabilan Tamilmani, Nayari Lessa, Haider Khan Lodhi, Sebastian Kasperski, Jonas Eisenmenger, Alexander Dettmann, Frank Kirchner
zenodo, May/2025.
Enhancing Heterogeneous Multi-Robot Teaming for Planetary Exploration
Amrita Suresh, Melvin Laux, Wiebke Brinkmann, Leon Cedric Danter, Frank Kirchner
Editors: Spiros Pantelakis, Andreas Strohmayer, Nikolaos Michailidis
In Engineering Proceedings, MDPI, volume 90, pages 1-9, May/2025.
Learning Fourier series with parametrized quantum circuits
Dirk Heimann, Hans Hohenfeld, Gunnar Schönhoff, Elie Mounzer, Frank Kirchner
In Physical Review Research, American Physical Society, volume 7, pages n.n., May/2025.
3D-DUO: 3D detection of underwater objects in low-resolution multibeam echosounder maps
Nael Jaber, Bilal Wehbe, Frank Kirchner
In Ocean Engineering, Elsevier, volume 331, pages 121254, Apr/2025.
Development of Quasi-Direct Drive Motor for Walking Robots in Extraterrestrial Environments
Jonas Eisenmenger, Zhongqian Zhao, Frank Kirchner
In Proceedings of the 14th EASN International Conference on "Innovation in Aviation & Space towards sustainability today & tomorrow", 8.10.-11.10.2024, Thessaloniki, MDPI, series Engineering Proceedings, volume 90, number 1, Apr/2025.
Toward Sustainable Space Exploration: Designing an AI-Powered Modular Toolbox for Future Planetary Exploration
Wiebke Brinkmann, Moritz Schilling, Priyanka Chowdhury, Jonas Eisenmenger, Jonas Benz, Malte Langosz, Jieying Li, Erik Michelson, Mehmed Yüksel, Frank Kirchner
In Engineering Proceedings, MDPI, volume 90, number 26, pages 1-9, Mar/2025.
Prediction-Based Tip Over Prevention for Planetary Exploration Rovers
Siddhant Shete, Raúl Domínguez, Ravisankar Selvaraju, Mariela De Lucas Alvarez, Frank Kirchner
Editors: Spiros Pantelakis; Andreas Strohmayer; Nikolaos Michailidis
In 14th EASN International Conference, 08.10.-11.10.2024, Thessaloniki, MDPI, series Engineering Proceedings Journal, volume 90(1), number 44, Mar/2025.
SHIVAA - an Autonomous Strawberry Picking Robot for Open Fields
Janne Janzen, Christoph Stoeffler, Dimitrios Rakovitis, Heiner Peters, Mahdi Javadi, Sankaranarayanan Natarajan, Frank Kirchner
In 1st German Robotics Conference, (GRC-2025), 13.3.-15.3.2025, Nürnberg, n.n., Mar/2025.
Look Ahead Optimization for Managing Nullspace in Cartesian Impedance Control of Dual-Arm Robots
Vamsi Krishna Origanti, Adrian Danzglock, Frank Kirchner
In Look Ahead Optimization for Managing Nullspace in Cartesian Impedance Control of Dual-Arm Robots, (SII-2025), 21.1.-24.1.2025, Munich, IEEE Xplore, Jan/2025.
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.
Exploration of Design Alternatives for Reducing Idle Time in Shor's Algorithm: A Study on Monolithic and Distributed Quantum Systems
Moritz Schmidt, Abhoy Kole, Leon Wichette, Rolf Drechsler, Frank Kirchner, Elie Mounzer
In ArXiv e-prints, Arxiv, volume abs/2503.22564, pages o.A., 2025.
Field Testing of Rimless Wheel Micro Rovers in Space Analogue Environments
Raúl Domínguez, Mehmed Yüksel, Christoph Hertzberg, Babu Ajish, Frank Kirchner
Editors: Málaga Escuela de Ingenierías Industriales
University of Málaga, I Doctoral Workshop on Space Robotics, 2025.
Stepping Locomotion for a Walking Excavator Robot Using Hierarchical Reinforcement Learning and Action Masking
Babu Ajish, Frank Kirchner
In 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2025), (IROS-2025), 18.10.-25.10.2025, Hangzhou, IEEE, 2025.
MV3D: Multi-View 3D Reconstruction of Objects Using Forward-Looking Sonar
Nael Jaber, Bilal Wehbe, Leif Christensen, Frank Kirchner
Editors: Tamim Asfour, Abhinav Valada
In IEEE Robotics and Automation Letters, IEEE, volume 10, pages 8762-8769, 2025.
Bayesian Inverse Physics for Neuro-Symbolic Robot Learning
Luis Octavio Arriaga Camargo, Rebecca Adam, Melvin Laux, Lisa Gutzeit, Marco Ragni, Jan Peters, Frank Kirchner
Editors: Leilani Gilpin, Eleonora Giunchiglia, Pascal Hitzler, Emile van Krieken
In Neurosymbolic Artificial Intelligence, IOS Press, volume -, pages 1-19, 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.

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.
Biologically Inspired Series-Parallel Hybrid Robots
Shivesh Kumar, Andreas Mueller, Frank Kirchner
Elsevier, pages 514, Dec/2024. ISBN: 9780323884822.
Sitting, Standing and Walking Control of the Series- Parallel Hybrid Recupera-Reha Exoskeleton
Ibrahim Tijjani, Rohit Kumar, Melya Boukheddimi, Mathias Trampler, Shivesh Kumar, Frank Kirchner
In 2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids), (Humanoids-2024), 22.11.-24.11.2024, Nancy, IEEE, pages 113-120, Dec/2024. ISBN: 979-8-3503-7357-8.
Multi-legged robot Mantis
Wiebke Brinkmann, Alexander Dettmann, Leon Cedric Danter, Tobias Stark, Christopher Schulz, Holger Sprengel, Marc Manz, Sebastian Bartsch
In Biologically Inspired Series-Parallel Hybrid Robots: Design, Analysis, and Control, Elsevier, pages 261-279, Dec/2024. ISBN: 978-0323884822.
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.
Sherpa, a family of wheeled-leg rovers
Florian Cordes, Babu Ajish, Tobias Stark
In Biologically Inspired Series-Parallel Hybrid Robots, Elsevier Science, 1. Auflage, volume 514, pages 281-304, Dec/2024. ISBN: 978-0-323-88482-2.
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.
Real-time Dynamic Gesture Recognition for Human-Robot Collaboration in Rescue Operations
Shefali Dewangan, Vamsi Krishna Origanti, Frank Kirchner
In IEEE International Symposium on Safety, Security, and Rescue Robotics, (SSRR-2024), 12.11.-14.11.2024, New York City, NY, IEEE, Nov/2024. ISBN: 979-8-3315-1095-4.
KRIS: A Robot for Material Transport in Relief Situations
Martin Mallwitz, Daniel Weissenrieder, Vamsi Krishna Origanti, Tom Becker, Milan Sixt, Malika Helapita, Felix Bernhard, Christian Schoo, Miguel Martínez Genis, Fabian Maas genannt Bermpohl, Mehmed Yüksel, Frank Kirchner
In IEEE International Symposium on Safety, Security, and Rescue Robotics, (SSRR-2024), 12.11.-14.11.2024, New York City, NY, IEEE, Nov/2024. ISBN: 979-8-3315-1095-4.
Whole-body trajectory optimization
Melya Boukheddimi, Rohit Kumar, Shivesh Kumar, Justin Carpentier, Frank Kirchner
In Biologically Inspired Series-Parallel Hybrid Robots, Elsevier, 1. Auflage, volume 514, chapter 10, pages 213-229, Nov/2024. ISBN: 978-0-323-88482-2.
Modular algorithms for kinematics and dynamics of series-parallel hybrid robots
Shivesh Kumar, Rohit Kumar, Andreas Müller, Frank Kirchner
In Biologically Inspired Series-Parallel Hybrid Robots, Elsevier, 1. Auflage, volume 514, chapter 7, pages 145-177, Nov/2024. ISBN: 978-0-323-88482-2.
Forward dynamics with constraint embedding for dynamic simulation
Rohit Kumar, Shivesh Kumar, Andreas Müller, Frank Kirchner
In Biologically Inspired Series-Parallel Hybrid Robots, Elsevier, 1. Auflage, volume 514, chapter 8, pages 179-194, Nov/2024. ISBN: 978-0-323-88482-2.
HyRoDyn: Hybrid Robot Dynamics
Shivesh Kumar, Rohit Kumar, Mareike Förster, Andreas Müller, Frank Kirchner
In Biologically Inspired Series-Parallel Hybrid Robots, Elsevier, 1. Auflage, volume 514, chapter 18, pages 397-425, Nov/2024. ISBN: 978-0-323-88482-2.
Attitude Control of the Hydrobatic Intervention AUV Cuttlefish using Incremental Nonlinear Dynamic Inversion
Tom Vincent Slawik, Shubham Vyas, Leif Christensen, Frank Kirchner
In 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2024), (IROS-2024), 14.10.-18.10.2024, Abu Dhabi, IEEE, Oct/2024.
Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments
Maximilian Albracht, Shivesh Kumar, Shubham Vyas, Frank Kirchner
Editors: Andrea Del Prete, Abderrahmane Kheddar
In IEEE Robotics and Automation Letters, IEEE, volume 9, number 10, pages 8507-8514, Oct/2024.
An Acoustic and Optical Dataset for the Perception of Underwater Unexploded Ordnance (UXO)
Nikolas Dahn, Miguel Bande Firvida, Proneet Kumar Sharma, Leif Christensen, Oliver Geisler, Jochen Mohrmann, Torsten Frey, Prithvi Sanghamreddy, Frank Kirchner
In OCEANS, (OCEANS-2024), 23.9.-26.9.2024, Halifax, Kanada, IEEE, Sep/2024.
Autonomous Docking between a Mobile Subsea Docking Station and an AUV while in Motion
Nikolas Dahn, Christopher Gaudig, Tim Lehr, Niklas Pech, Peter Kampmann, Leif Christensen, Frank Kirchner
In OCEANS, (OCEANS-2024), 23.9.-26.9.2024, Halifax, Kanada, IEEE, Sep/2024.
IntEr-HRI Competition: Intrinsic Error Evaluation during Human-Robot Interaction
Kartik Chari, Niklas Kueper, Su-Kyoung Kim, Frank Kirchner, Elsa Andrea Kirchner
In Proceedings of the Thirty-Third International Joint Conference on Artificial Intelligence, IJCAI-24, (IJCAI-2024), 05.8.-09.8.2024, Jeju Island, International Joint Conferences on Artificial Intelligence Organization, pages 8623-8626, Aug/2024.
A Survey of Behavior Learning Applications in Robotics - State of the Art and Perspectives
Alexander Fabisch, Christoph Petzoldt, Marc Otto, Frank Kirchner
series DFKI Research Reports, volume RR-24-01, Aug/2024. Deutsches Forschungszentrum für Künstliche Intelligenz (DFKI) GmbH, Robotics Innovation Center.
Reinforcement Learning for Athletic Intelligence: Lessons from the 1st "AI Olympics with RealAIGym" Competition
Felix Wiebe, Niccolò Turcato, Alberto Dalla Libera, Chi Zhang, Theo Vincent, Shubham Vyas, Giulio Giacomuzzo, Ruggero Carli, Diego Romeres, Akhil Sathuluri, Markus Zimmermann, Boris Belousov, Jan Peters, Frank Kirchner, Shivesh Kumar
Editors: Kate Larson
In Proceedings of the Thirty-Third International Joint Conference on Artificial Intelligence, IJCAI-24, (IJCAI-2024), 03.8.-09.8.2024, Jeju, International Joint Conferences on Artificial Intelligence Organization, pages 8833-8837, Aug/2024.
Fusion of Inertial Sensor Suit and Monocular Camera for 3D Human Pelvis Pose Estimation
Mihaela Popescu, Kashmira Shinde, Proneet Kumar Sharma, Lisa Gutzeit, Frank Kirchner
In 2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN), (RO-MAN-2024), 26.8.-30.8.2024, Pasadena, California, IEEE XPlore, pages 160-167, Aug/2024.
Development strategies for multi-robot teams in context of planetary exploration
Wiebke Brinkmann, Leon Cedric Danter, Amrita Suresh, Mehmed Yüksel, Manuel Meder, Frank Kirchner
In 2024 International Conference on Space Robotics, (iSpaRo-2024), 24.6.-27.6.2024, Luxembourg, o. A., Jun/2024.
Open Source Dual-Purpose Acrobot and Pendubot Platform: Benchmarking Control Algorithms for Underactuated Robotics
Felix Wiebe, Shivesh Kumar, Lasse Jenning Shala, Shubham Vyas, Mahdi Javadi, Frank Kirchner
In IEEE Robotics & Automation Magazine, IEEE, volume 31, number 2, pages 113-124, Jun/2024.
Quantum Deep Reinforcement Learning for Robot Navigation Tasks
Hans Hohenfeld, Dirk Heimann, Felix Wiebe, Frank Kirchner
In IEEE Access, IEEE, volume n.n., pages 1-1, Jun/2024.
Enhanced multifunctional interface for reconfigurability of robotic teams in planetary applications
Mehmed Yüksel, Wiebke Brinkmann, Marko Jankovic, Hilmi Dogu Kücüker, Frank Kirchner
In 2024 IEEE International Conference on Robotics and Automation, (ICRA-2024), 13.5.-17.5.2024, Yokohama, o. A., May/2024.
RicMonk: A Three-Link Brachiation Robot with Passive Grippers for Energy-efficient Brachiation
Shourie S Grama, Mahdi Javadi, Shivesh Kumar, Hossein Zamani Boroujeni, Frank Kirchner
In IEEE International Conference on Robotics and Automation (ICRA), (ICRA-2024), 13.5.-17.5.2024, Yokohama, IEEE, May/2024.
Robust Co-Design of Canonical Underactuated Systems for Increased Certifiable Stability
Federico Girlanda, Lasse Shala, Shivesh Kumar, Frank Kirchner
In 2024 IEEE International Conference on Robotics and Automation (ICRA), (ICRA-2024), 13.5.-17.5.2024, Yokohama, IEEE, May/2024.
Robotics and autonomy: From space robots to applications in daily life
Sirko Straube, Frank Kirchner
In Research Outreach, Research Publishing International Ltd, volume 4, pages 1-4, Apr/2024.
RoBivaL data corpus
Christian Backe, Malte Wirkus, Stefan Hinck, Jonathan Babel, Vadim Riedel, Nele Reichert, Andrej Kolesnikov, Tobias Stark, Jens Hilljegerdes, Hilmi Dogu Kücüker, Emir Barcic, Eduard Klink, Arno Ruckelshausen, Frank Kirchner
Zenodo, Apr/2024.
Comparative Study of Soil Interaction and Driving Characteristics of Different Agricultural and Space Robots in an Agricultural Environment
Malte Wirkus, Stefan Hinck, Christian Backe, Jonathan Babel, Vadim Riedel, Nele Reichert, Andrej Kolesnikov, Tobias Stark, Jens Hilljegerdes, Hilmi Dogu Kücüker, Arno Ruckelshausen, Frank Kirchner
In Journal of Field Robotics, Wiley, volume 41, pages 1-34, Apr/2024.
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.
EEG and EMG dataset for the detection of errors introduced by an active orthosis device
Niklas Kueper, Kartik Chari, Judith Bütefür, Julia Habenicht, Su Kyoung Kim, Tobias Rossol, Marc Tabie, Frank Kirchner, Elsa Andrea Kirchner
In Frontiers in Human Neuroscience, Frontiers, volume 18, pages o.A., Jan/2024.
Gait Analysis and Control of Rimless Wheel Rovers for Planetary Exploration
Dennis Schlee, Shubham Vyas, Raúl Domínguez, Frank Kirchner
In International Conference on Space Robotics, (iSpaRo-2024), 24.6.-27.6.2024, Luxembourg, o. A., Neumünster Abbey, 2024.
Tether management and docking system for multi-robot rappelling into lunar lava tubes
Jonathan Babel, Leon Cedric Danter, Gonzalo Paz Delgado, Raúl Domínguez, Yogeshkarna Govindaraj, Mehmed Yüksel, Frank Kirchner
In 75th International Astronautical Congress, (IAC-2024), 14.10.-18.10.2024, Milan, International Astronautical Federation (IAF), 2024.
Bayesian Inverse Graphics for Few-Shot Concept Learning
Luis Octavio Arriaga Camargo, Jichen Guo, Rebecca Adam, Sebastian Houben, Frank Kirchner
In International Conference on Neural-Symbolic Learning and Reasoning 2024, (NeSy-2024), Springer, pages 141-165, 2024. Springer.
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.
Recupera exoskeletons
Martin Mallwitz, Michael Maurus, Shivesh Kumar, Mathias Trampler, Marc Tabie, Hendrik Wöhrle, Elsa Andrea Kirchner, Henning Wiedemann, Heiner Peters, Christopher Schulz, Kartik Chari, Ibrahim Tijjani, Frank Kirchner
In BIOLOGICALLY INSPIRED SERIES-PARALLEL HYBRID ROBOTS, Elsevier, pages 305-332, 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.
Mixed Integer Model Predictive Control for a free-floating platform with binary and continuous actuation
Franek Stark, Shubham Vyas, Georg Schildbach, Frank Kirchner
In Proceedings of the 2024 CEAS EuroGNC conference, (EuroGNC-2024), 11.6.-13.6.2024, Bristol, CEAS, 2024.

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).
Towards an Autonomous Micro Rover with Night Survivability for Lunar Exploration
Benjamin Hülsen, Niklas A. Mulsow, Adam Dabrowski, Wiebke Brinkmann, Joel Gützlaff, Leon Spies, Markus Czupalla, Frank Kirchner
In 74th International Astronautical Congress 2023, (IAC-2023), 2.10.-6.10.2023, Baku, International Astronautical Federation (IAF), 100 Avenue de Suffren 75015 Paris, France, Oct/2023. International Astronautical Federation (IAF).
Investigations into Exploiting the Full Capabilities of a Series-Parallel Hybrid Humanoid using Whole Body Trajectory Optimization
Melya Boukheddimi, Rohit Kumar, Shivesh Kumar, Carpentier Justin, Frank Kirchner
In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (IROS-2023), 01.10.-05.10.2023, Detroit, Michigan, IEEE, Oct/2023.
Concept and design of an autonomous micro rover for long term lunar exploration
Niklas A. Mulsow, Benjamin Hülsen, Joel Gützlaff, Leon Spies, Andreas Bresser, Adam Dabrowski, Markus Czupalla, Frank Kirchner
In Proceedings of the 74th International Astronautical Congress (IAC), IAC-23-D1,2,11,x77783, (IAC-2023), 02.10.-06.10.2023, Baku, International Astronautical Federation (IAF), Oct/2023.
End-to-End Reinforcement Learning for Torque Based Variable Height Hopping
Raghav Soni, Daniel Harnack, Hannah Isermann, Sotaro Fushimi, Shivesh Kumar, Frank Kirchner
In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (IROS-2023), 01.10.-05.10.2023, Detroit, MI, IEEE Robotics and Automation Society, pages 7531-7538, Oct/2023. ISBN: 978-1-6654-9190-7.
Human-AI Teams-Challenges for a Team-Centered AI at Work
Vera Hagemann, Michèle Rieth, Amrita Suresh, Frank Kirchner
In Frontiers in Artificial Intelligence, Frontiers Media SA, volume 6, pages 1-6, Sep/2023.
PhysWM: Physical World Models for Robot Learning
Marc Otto, Octavio Arriaga, Chandandeep Singh, Jichen Guo, Frank Kirchner
In NeSy 2023: 17th International Workshop on Neural-Symbolic Learning and Reasoning, (NeSy-2023), 3.7.-5.7.2023, Certosa di Pontignano, Siena, CEUR Workshop Proceedings, Jul/2023.
AcroMonk: A Minimalist Underactuated Brachiating Robot
Mahdi Javadi, Daniel Harnack, Paula Stocco, Shivesh Kumar, Shubham Vyas, Daniel Pizzutilo, Frank Kirchner
In IEEE Robotics and Automation Letters, IEEE, volume 8, pages 1-8, Jun/2023.
Towards Continuous Time Finite Horizon LQR Control in SE(3)
Shivesh Kumar, Andreas Mueller, Patrick Wensing, Frank Kirchner
In IEEE International Conference on Robotics and Automation (ICRA) 2023 Workshop on Geometric Representations The Roles of Modern Screw Theory, Lie algebra, and Geometric Algebra in Robotics, (ICRA-2023), 29.5.-2.6.2023, London, IEEE, Jun/2023.
A Combined Rigid-Soft Thruster Based on Jetting Propulsion
Christoph Stoeffler, Adriano del Río, René Sonntag, Florian Hoffmann, Shivesh Kumar, Frank Kirchner
In IEEE-RAS International Conference on Soft Robotics, (RoboSoft-2023), 03.4.-07.4.2023, Singapore, IEEE-RAS International Conference on Soft Robotics, pages 1-6, Apr/2023.
Multi-Objective Surrogate-Model-Based Neural Architecture and Physical Design Co-Optimization of Energy Efficient Neural Network Hardware Accelerators
Hendrik Wöhrle, Felix Schneider, Fabian Schlenke, Denis Lebold, Mariela De Lucas Alvarez, Frank Kirchner, Michael Karagounis
In IEEE Transactions on Circuits and Systems I: Regular Papers, IEEE, volume 70, number 1, pages 40-53, Jan/2023.
The VVAD-LRS3 Dataset for Visual Voice Activity Detection
Adrian Lubitz., Matias Valdenegro-Toro., Frank Kirchner.
In Proceedings of the 18th International Joint Conference on Computer Vision, Imaging and Computer Graphics Theory and Applications - HUCAPP, (VISIGRAPP-2023), 19.2.-21.2.2023, Lissabon, SciTePress, pages 39-46, 2023. INSTICC. ISBN: 978-989-758-634-7.
A Reference Implementation for Knowledge Assisted Robot Development for Planetary and Orbital Robotics
Mehmed Yüksel, Thomas M. Röhr, Marko Jankovic, Wiebke Brinkmann, Frank Kirchner
In Acta Astronautica, Elsevier Ltd., volume 2023, pages 1-16, 2023.
Field Testing of Cooperative Multi-Robot Technology for Accessing and Exploring a Planetary Lava Tube
Raúl Domínguez, Thomas Vögele, Jorge Ocón, Thierry Germa, Shashank Govindaraj, Fredrik Bakkevig Haugli, Eric Törn, Valerie Ciarletti, Carlos Jesús Perez, Alexander Dettmann, Anne-Claire Berthen, Loic Lecabec, Pierpaolo Serio, Fabio Polisano, Frank Kirchner
In 4th International Planetary Caves Conference, (IPCC-2023), 04.5.-07.5.2023, Haría Municipality in Lanzarote, Lunar and Planetary Institute, 2023.
Actuator-Level Motion and Contact Episode Learning and Classification Using Adaptive Resonance Theory
Vinzenz Bargsten, Frank Kirchner
In Journal of Intelligent Service Robotics, Springer, volume 1, pages 1-12, 2023.
Toolbox of Modular Components to Demonstrate Applicatio-Specific Configurable Space Robots
Mehmed Yüksel, Wiebke Brinkmann, Jonas Eisenmenger, Henning Wiedemann, Isabelle Kien, Niklas Mulsow, Frank Kirchner
In 17th Symposium on Advanced Space Technologies in Robotics and Automation, (ASTRA-2023), 18.10.-20.10.2023, Leiden, ESA Publications Division-ESTEC, ESA-ESTEC, Keplerlaan 1 2201 AZ Noordwijk, The Netherlands, 2023. European Space Agency (ESA).
Linear Model Predictive Control for a planar free-floating platform: A comparison of binary input constraint formulations
Franek Stark, Shubham Vyas, Georg Schildbach, Frank Kirchner
In 17th Symposium on Advanced Space Technologies in Robotics and Automation, (ASTRA-2023), 18.10.-20.10.2023, Leiden, ESA, 2023. ESA.
CoBaIR: A Python Library for Context-Based Intention Recognition in Human-Robot-Interaction
Adrian Auer, Lisa Gutzeit, Frank Kirchner
In 2023 32nd IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), (RO-MAN-2023), 28.8.-31.8.2023, Busan, IEEE, 2023.
PerSim: Perception for Planetary Prospection and Internal Simulation
Raúl Domínguez, Mariela De Lucas Alvarez, Siddhant Kadwe, Christoph Hertzberg, Siddhant Shete, Leon Cedric Danter, Marko Jankovik, Shubham Vyas, Jonas Eisenmenger, Pierre Willenbrock, André Felmet, Vikram Unnithan, Frank Kirchner
In 17th Symposium on Advanced Space Technologies in Robotics and Automation, (ASTRA-2023), 18.10.-20.10.2023, Leiden, ASTRA Proceedings, PO Box 299 2200 AG Noordwijk The Netherlands, 2023. European Space Agency (ESA).
Verifizierung für autonome Unterwassersysteme
Christoph Lüth, Nicole Megow, Rolf Drechsler, Udo Frese
In KI-Technologie für Unterwasserroboter, Springer, pages 185-198, 2023.
Modulares und rekonfigurierbares Systemdesign für Unterwasserfahrzeuge
Marc Hildebrandt, Kenneth Schmitz, Rolf Drechsler
In KI-Technologie für Unterwasserroboter, Springer, pages 65-76, 2023.
Deriving Rewards for Reinforcement Learning from Symbolic Behaviour Descriptions of Bipedal Walking
Daniel Harnack, Christoph Lüth, Lukas Groß, Shivesh Kumar, Frank Kirchner
In 62nd IEEE Conference on Decision and Control (CDC), (CDC-2023), 13.12.-15.12.2023, Marina Bay Sands, TBA., 2023.
Fast Dynamic Walking with RH5 Humanoid Robot
Ivan Bergonzani, Mihaela Popescu, Shivesh Kumar, Frank Kirchner
In 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), (Humanoids), 12.12.-14.12.2023, Austin, TX, IEEE, 2023. ISBN: 979-8-3503-0327-8.
Sonar2Depth: Acoustic-Based 3D Reconstruction Using cGANs
Nael Jaber, Bilal Wehbe, Frank Kirchner
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (IROS-2023), 01.10.-05.10.2023, Detroit, IEEE, 2023.
Combined Path and Motion Planning for Workspace Restricted Mobile Manipulators in Planetary Exploration
Gonzalo Paz Delgado, J. Ricardo Sánchez Ibáñez, Raul Dominguez, Carlos Perez-del-Pulgar, Frank Kirchner, Alfonso Garcia
In IEEE Access, IEEE, volume 11, pages 78152-78169, 2023.

2022

Unsupervised Segmentation of Human Manipulation Movements into Building Blocks
Lisa Gutzeit, Frank Kirchner
In IEEE Access, IEEE, volume 10, pages 125723-125734, Dec/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.
Analytic Estimation of Region of Attraction of an LQR Controller for Torque Limited Simple Pendulum
Lukas Groß, Lasse Jenning Shala, Shivesh Kumar, Frank Kirchner, Christoph Lüth
In 61st IEEE Conference on Decision and Control, (CDC-2022), 6.12.-9.12.2022, Cancun, Institute of Electrical and Electronics Engineers (IEEE), Dec/2022.
Co-Optimization of Acrobot Design and Controller for Increased Certifiable Stability
Lasse Jenning Shala, Felix Wiebe, Shivesh Kumar, Mahdi Javadi, Frank Kirchner
In Proceedings of the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022), (IROS-2022), 23.10.-27.10.2022, Kyoto, IEEE, Nov/2022.
Modular and Hybrid Numerical-Analytical Approach - A Case Study on Improving Computational Efficiency for Series-Parallel Hybrid Robots
Rohit Kumar, Shivesh Kumar, Andreas Mueller, Frank Kirchner
In 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (IROS-2022), 23.10.-27.10.2022, Kyoto, IEEE, Nov/2022.
Robot Dance Generation with Music Based Trajectory Optimization
Melya Boukheddimi, Daniel Harnack, Shivesh Kumar, Rohit Kumar, Shubham Vyas, Octavio Arriaga, Frank Kirchner
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022, (IROS-2022), IEEE, Nov/2022.
The Challenge of Autonomy: What We Can Learn from Research on Robots Designed for Harsh Environments
Sirko Straube, Nina Hoyer, Niels Will, Frank Kirchner
Editors: Uwe Engel
In Robots in Care and Everyday Life, Springer, chapter 4, pages 57-80, Oct/2022.
Necessity of Hydrostatic Stability in Autonomous Underwater Vehicles on Intervention Missions
Tobias Rossol, Christian Ernst Siegfried Koch, Ralf Bachmayer, Frank Kirchner
In OCEANS 22 Hampton Roads, (OCEANS-2022), 17.10.-20.10.2022, Hampton Roads, VA, IEEE, pages 1-10, Oct/2022. MTS / IEEE OES.
A Standard Interconnect Benchmark for a European In-orbit Services, Manufacturing and Assembly (ISMA) Demonstrator
Wiebke Brinkmann, Mehmed Yüksel, Marko Jankovic, Malte Wirkus, Jona Saffer, Isabel Soto, Jeremi Gancet, Pierre Letier, Thomas A. Schervan, Joerg Kreisel, Stephane Estable, Frank Kirchner
In 73rd International Astronautical Congress 2022, (IAC-2022), 18.9.-22.9.2022, Paris, International Astronautical Federation (IAF), 100 Avenue de Suffren 75015 Paris, France, Sep/2022. International Astronautical Federation (IAF).
Torque-limited simple pendulum: A toolkit for getting familiar with control algorithms in underactuated robotics
Felix Wiebe, Jonathan Babel, Shivesh Kumar, Shubham Vyas, Daniel Harnack, Melya Boukheddimi, Mihaela Popescu, Frank Kirchner
In Journal of Open Source Software, The Open Journal, volume 7, number 74, pages 1-7, Jun/2022.
Implementation of an On-Board Terrain Classfier Based on Propioceptive Sensor Data for a Planetary Rover
Raúl Domínguez, Lennart Kuhr, Jonathan Babel, Florian Cordes, Giulio Reina, Frank Kirchner
Editors: keine Angabe, keine Angabe
In Symposium on Advanced Space Technologies in Robotics and Automation, (ASTRA-2022), 01.6.-02.6.2022, ESA-ESTEC, Noordwijk, the Netherlands, ESA Conference Bureau / ATPI Corporate Events, Jun/2022.
Design and Control of a Portable Continuum Robot for Pipe Inspection Assisted by a Rigid Manipulator
Bingbin Yu, Frank Kirchner
In Soft Robotics, Bentham Science Publisher, pages 140-161, May/2022.
Towards a Semi-Autonomous Robotic Exploration of a Lunar Skylight Cavity
Roland Sonsalla, Steffen Planthaber, Raúl Domínguez, Alexander Dettmann, Florian Cordes, Benjamin Hülsen, Christopher Schulz, Patrick Schöberl, Sebastian Kasperski, Henning Wiedemann, Frank Kirchner
In Proceedings of the IEEE Aerospace Conference, 5.3.-12.3.2022, Big Sky, Montana, IEEE, Mar/2022. IEEE.
The influence of labeling techniques in classifying human manipulation movement of different speed.
Sadique Adnan Siddiqui, Lisa Gutzeit, Frank Kirchner
In International Conference on Pattern Recognition Applications and Methods, (ICPRAM-2022), 03.2.-05.2.2022, n.n., pages 338-345, Feb/2022. ISBN: 978-989-758-549-4.
Combinatorics of a Discrete Trajectory Space for Robot Motion Planning
Felix Wiebe, Shivesh Kumar, Daniel Harnack, Malte Langosz, Hendrik Wöhrle, Frank Kirchner
Editors: William Holderbaum, J. M. Selig
In 2nd IMA Conference on Mathematics of Robotics, (IMA-2022), 08.9.-10.9.2021, London, Springer International Publishing, series Springer Proceedings in Advanced Robotics, Jan/2022. ISBN: 9783030913519.
Human-centered AI and robotics
Stephane Doncieux, Raja Chatila, Sirko Straube, Frank Kirchner
In AI Perspectives, Springer Nature, volume 4, number 1, pages 1-14, Jan/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.
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.
RealAIGym: Education and Research Platform for Studying Athletic Intelligence
Felix Wiebe, Shubham Vyas, Lasse Jenning Shala, Shivesh Kumar, Frank Kirchner
Editors: Brian Plancher, Dylan Shell, Kris Hauser, Shuran Song, Katja Mombaur
In Proceedings of the Robotics: Science and System Workshop Mind the Gap: Opportunities and Challenges in the Transition Between Research and Industry, 1.7.-1.7.2022, New York, New York, Robotics Science and Systems, Online Proceedings, 2022. RSS Foundation.
Post-Capture Detumble Trajectory Stabilization for Robotic Active Debris Removal
Shubham Vyas, Lasse Maywald, Shivesh Kumar, Marko Jankovic, Andreas Mueller, Frank Kirchner
In Advances in Space Research, Elsevier Ltd., volume 1, pages 1-18, 2022.
Multi-modal manipulation planning for an upper-torso humanoid system
Sankaranarayanan Natarajan, Frank Kirchner
In 2022 IEEE-RAS 21st International Conference on Humanoid Robots, (Humanoids-2022), 28.11.-30.11.2022, Ginowan City, Okinawa, IEEE, 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.
Momentum based classification for robotic active debris removal
Shubham Vyas, Marko Jankovic, Frank Kirchner
In Journal of Space Safety Engineering, Elsevier, volume 9, number 4, pages 649-655, 2022.

2021

Terrain Adaption Controller for a Walking Excavator Robot using Deep Reinforcement Learning
Babu Ajish, Frank Kirchner
In 2021 20th International Conference on Advanced Robotics (ICAR), (ICAR-2021), 07.12.-10.12.2021, Ljubljana, IEEE Xplore, pages 64-70, Dec/2021.
Sample-Efficient Policy Search with a Trajectory Autoencoder
Alexander Fabisch, Frank Kirchner
In Proceedings of the 4th Robot Learning Workshop: Self-Supervised and Lifelong Learning, (NeurIPS-2021), 14.12.2021, virtuell, n.n., Dec/2021.
Design and Environmental Testing of the DFKI-X Robotics Joint for Space Applications
Niklas A. Mulsow, Roland Sonsalla, Patrick Schöberl, Tobias Stark, Frank Kirchner
In Proceedings of the 19th European Space Mechanisms and Tribology Symposium (ESMATS), (ESMATS), 20.9.-24.9.2021, online, n.n., Sep/2021. ESA.
Surrogate Model based Co-Optimization of Deep Neural Network Hardware Accelerators
Editors: Hendrik Wöhrle, Mariela De Lucas Alvarez, Fabian Schlenke, Alexander Walsemann, Michael Karagounis, Frank Kirchner
(MWSCAS-2021), 9.8.-11.8.2021, IEEE, Aug/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.
A Development Cycle for Automated Self-Exploration of Robot Behaviors
Thomas M. Roehr, Daniel Harnack, Hendrik Wöhrle, Felix Wiebe, Moritz Schilling, Oscar Lima, Malte Langosz, Shivesh Kumar, Sirko Straube, Frank Kirchner
In AI Perspectives, n.n., volume 3, number 1, pages o.A., Jul/2021.
Design, Analysis and Control of the Series-Parallel Hybrid RH5 Humanoid Robot
Julian Eßer, Shivesh Kumar, Heiner Peters, Vinzenz Bargsten, José de Gea Fernández, Carlos Mastalli, Olivier Stasse, Frank Kirchner
In 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), (Humanoids-2020), 19.7.-21.7.2021, Munich/Virtual, IEEE, pages 400-407, Jul/2021.
Etablierung eines kooperativen Forschungsdatenmanagements in der U Bremen Research Alliance
Iris Pigeot, Frank Oliver Glöckner, Rolf Drechsler, Tanja Hörner, Derk Hergen Schönfeld, Lena Steinmann, Björn Oliver Schmidt, Florian Cordes, Frank Kirchner, Christoph Lüth, Antje Boetius, Andreas Breiter, Nicolas Dittert, Rainer Fechte-Heinen, Jutta Günther, Horst Hahn, Jan-Ocko Heuer, Betina Hollstein, Elisabeth Huber, Lutz Mädler, Guido Prause, Norbert Riefler, Norman Sieroka
Zenodo, May/2021.
Technische Aspekte der Robotik und Künstlichen Intelligenz
Frank Kirchner
Editors: Andreas Leupold, Andreas Wiebe, Silke Glossner
In IT-Recht (Recht, Wirtschaft und Technik der digitalen Transformation), C.H. Beck, 4. Auflage, chapter 9.3, pages 991-1000, Mar/2021. ISBN: 978-3-406-74458-7.

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.
Errors in human-robot interactions and their effects on robot learning
Su-Kyoung Kim, Elsa Andrea Kirchner, Lukas Schloßmüller, Frank Kirchner
In Frontiers in Robotics and AI, Frontiers, volume 7 - Section Computational Intelligence in Robotics, pages Article-558531, Oct/2020.
Lightweight and Framework-Independent Communication Library to Support Cross-Plattform Robotic Applications and High-Latency Connections
Leon Cedric Danter, Steffen Planthaber, Alexander Dettmann, Wiebke Brinkmann, Frank Kirchner
In 15th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS '20), (i-SAIRAS), 19.10.-23.10.2020, Online-Conference, o.A., Oct/2020.
Underwater Demonstrator for Autonomous In-Orbit Assembly of Large Structures
Christian Ernst Siegfried Koch, Marko Jankovic, Sankaranarayanan Natarajan, Shubham Vyas, Wiebke Brinkmann, Vincent Bissonnette, Thierry Germa, Alessio Turetta, Frank Kirchner
In Robotics and Automation in Space 2020, (i-SAIRAS-2020), 19.10.-23.10.2020, Online, Universities Space Research Association (USRA), Oct/2020.
Momentum Based Classification for Robotic Active Debris Removal
Shubham Vyas, Marko Jankovic, Frank Kirchner
In 71th International Astronautical Congress, (IAC-2020), 12.10.-14.10.2020, Online-Conference, International Astronautical Federation (IAF), Oct/2020.
AI-perspectives: the Turing option
Frank Kirchner
In AI Perspectives, Springer Nature, volume 2, number 2, pages 1-12, Sep/2020.
Robotics and AI: How Technology May Change the Way We Shape Our Bodies and What This Does to the Mind
Frank Kirchner
Editors: Schmidt S.L.
In 21st Century Sports, How Technologies Will Change Sports in the Digital Age, Springer Nature, chapter 5, pages 73-89, Sep/2020. ISBN: 978-3-030-50800-5.
Flexible online adaptation of learning strategy using EEG-based reinforcement signals in real-world robotic applications
Su Kyoung Kim, Elsa Andrea Kirchner, Frank Kirchner
In Proceedings of the IEEE International Conference on Robotics and Automation, (ICRA-2020), 31.3.-31.8.2020, Paris, IEEE, pages 4885-44891, Aug/2020.
Optimization of convolutional neural network hyperparameters for automatic classification of adult mosquitoes
Daniel Motta, Alex Alisson Bandeira Santos, Bruna Aparecida Souza Machado, Otavio Goncalvez Vicente Ribeiro-Filho, Luis Octavio Arriaga Camargo, Matias Valdenegro-Toro, Frank Kirchner, Roberto Badaro
Editors: Jie Zhang
In PLoS ONE, PLOS, volume 15(7), pages 1-30, Jul/2020.
A survey on modularity and distributivity in series-parallel hybrid robots
Shivesh Kumar, Hendrik Wöhrle, José de Gea Fernández, Andreas Mueller, Frank Kirchner
In Mechatronics, Elsevier Ltd., volume 68, pages 102-367, Jun/2020.
On Robotic Applications and AI in Future Space Missions
Roland Sonsalla, Alexander Dettmann, Frank Kirchner
virtual, n.n., ICRA 2020 Workshop on Opportunities and Challenges in Space Robotics, Jun/2020. IEEE.
An Analytical and Modular Software Workbench for Solving Kinematics and Dynamics of Series-Parallel Hybrid Robots
Shivesh Kumar, Kai von Szadkowski, Andreas Mueller, Frank Kirchner
In Journal of Mechanisms and Robotics, ASME, volume 12, number 2, pages 1-12, Apr/2020.
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.
Intelligent Propulsion
Ralf Bachmayer, Peter Kampmann, Hermann Pleteit, Matthias Busse, Frank Kirchner
Editors: Frank Kirchner, Sirko Straube, Daniel Kühn, Nina Hoyer
In AI Technology for Underwater Robots, Springer International Publishing, volume 96, pages 71-82, 2020. ISBN: e-book: 978-3-030-30683-0 hardcover: 978-3-030-30682-3.
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.
BOLeRo: Behavior Optimization and Learning for Robots
Alexander Fabisch, Malte Langosz, Frank Kirchner
In International Journal of Advanced Robotic Systems, SAGE Publications, volume 17, number 3, pages n.n.-n.n., 2020.
Evaluating Uncertainty Estimation Methods on 3D Semantic Segmentation of Point Clouds
Swaroop Bhandary, Nico Hochgeschwender, Paul Plöger, Frank Kirchner, Matias Valdenegro-Toro
In Workshop on Uncertainty and Robustness in Deep Learning, (ICML-2020), 12.7.-18.7.2020, Online, Keine, 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.
Are Gradient-based Saliency Maps Useful in Deep Reinforcement Learning?
Matthias Rosynski, Frank Kirchner, Matias Valdenegro-Toro
In ICBINB@NeurIPS 2020 - Bridging the gap between theory and empiricism in probabilistic machine learning, (ICBINB-2020), 12.12.2020, Virtual, arXiv, 2020.

2019

Model Simplification For Dynamic Control of Series-Parallel Hybrid Robots - A Representative Study on the Effects of Neglected Dynamics
Shivesh Kumar, Julius Martensen, Andreas Mueller, Frank Kirchner
In Proceedings in IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS-2019), 04.11.-08.11.2019, Macau, IEEE, Dec/2019.
AI-Perspectives: an editorial
Frank Kirchner
In AI Perspectives, Springer International Publishing, volume 1/2019, pages 1-2, Sep/2019.
Exoskelette und künstliche Intelligenz in der klinischen Rehabilitation
Elsa Andrea Kirchner, Niels Will, Marc Simnofske, Luis Manuel Vaca Benitez, José de Gea Fernández, Peter Kampmann, Frank Kirchner
Editors: Mario A. Pfannstiel, Patrick Da-Cruz, Harald Mehlich
In Digitale Transformation von Dienstleistungen im Gesundheitswesen V, Springer Nature, chapter 21, pages 413-435, Aug/2019. ISBN: 978-3-658-23986-2.
Introducing Q-Rock : Towards the Automated Self-Exploration and Qualification of Robot Behaviors
Thomas M Roehr, Daniel Harnack, Oscar Lima, Hendrik Wöhrle, Frank Kirchner
In Poster at the ICRA 2019 Workshop on Robot Design and Customization: Opportunities at the Intersection of Computation and Digital Fabrication, (ICRA-2019), 20.5.-24.5.2019, Montreal, Quebec, o.A., pages 1-2, May/2019.
Modular Design and Decentralized Control of the Recupera Exoskeleton for Stroke Rehabilitation
Shivesh Kumar, Hendrik Wöhrle, Mathias Trampler, Marc Simnofske, Heiner Peters, Martin Mallwitz, Elsa Andrea Kirchner, Frank Kirchner
In Applied Sciences, MDPI, volume 9, number 4 (626), pages 1-23, Feb/2019.
Application of convolutional neural networks for classification of adult mosquitoes in the field
Daniel Motta, Alex Álisson Bandeira Santos, Ingrid Winkler, Bruna Aparecida Souza Machado, Daniel André Dias Imperial Pereira, Alexandre Morais Cavalcanti, Eduardo Oyama Lins Fonseca, Frank Kirchner, Roberto Badaró
Editors: Humberto Lanz-Mendoza
In PLoS ONE, PLoS - Public Library of Science, volume n.n., pages n.n.-n.n., Jan/2019.
Handbuch der Raumfahrttechnik
Frank Kirchner, et al.
Herausgegeben von Wilfried Ley, Klaus Wittmann und Willi Hallmann im Carl Hanser Verlag, 5. erweiterte und aktualisierte Auflage, Jan/2019. ISBN: 978-3-446-45429-3 / E-Book: 978-3-446-45723-2.
Embedded Multimodal Interfaces in Robotics: Applications, Future Trends, and Societal Implications
Elsa Andrea Kirchner, Stephen Fairclough, Frank Kirchner
Editors: S. Oviatt, B. Schuller, P. Cohen, D. Sonntag, G. Potamianos, A. Krueger
In The Handbook of Multimodal-Multisensor Interfaces, Morgan & Claypool Publishers, volume 3, chapter 13, pages 523-576, 2019. ISBN: e-book: 978-1-97000-173-0, hardcover: 978-1-97000-175-4, paperback: 978-1-97000-172-3, ePub: 978-1-97000-174-7.
A Framework for On-line Learning of Underwater Vehicles Dynamic Models
Bilal Wehbe, Marc Hildebrandt, Frank Kirchner
In International Conference on Robotics and Automation, (ICRA-2019), 20.5.-24.5.2019, Montréal, Québec, IEEE, 2019. IEEE Robotics and Automation Society.
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.
Automated Robot Skill Learning from Demonstration for Various Robot Systems
Lisa Gutzeit, Alexander Fabisch, Christoph Petzold, Hendrik Wiese, Frank Kirchner
In KI 2019: Advances in Artificial Intelligence, (KI-2019), 23.9.-26.9.2019, Kassel, Springer, pages 168-181, 2019.
Lernende Systeme in lebensfeindlichen Umgebungen
Editors: Jürgen Beyerer, Frank Kirchner, Igor Tchouchenkov, Sirko Straube, Erduana Shala
series n.n., volume n.n., Karolinenplatz 4 80333 München, 2019. acatech - Deutsche Akademie der Technikwissenschaften.
Space Robotic Systems and Artificial Intelligence in the Context of the European Space Technology Roadmap
Wiebke Brinkmann, Florian Cordes, Christian Ernst Siegfried Koch, Malte Wirkus, Raúl Dominguez, Alexander Dettmann, Thomas Vögele, Frank Kirchner
In Proceedings of Space Tech Conferences, 19.11.-21.11.2019, Bremen, o.A., 2019.
Künstliche Intelligenz und robotergestützte Rehabilitation
Niels Will, Elsa Andrea Kirchner, Frank Kirchner
Editors: Heinrich Hanika
In Künstliche Intelligenz, Robotik und autonome Systeme in der Gesundheitsversorgung, Wissenschaft & Praxis, series Schriften zu Gesundheitsökonomie / Gesundheitsmanagement. Hrsg. Manfred Erbsland und Evelin Häusler, pages 101-128, 2019. ISBN: 978-3-89673-759-5.
ROBDEKON: Robotic Systems for Decontamination in Hazardous Environments
Janko Petereit, Jürgen Beyerer, Tamim Asfour, Sascha Gentes, Björn Hein, Uwe D. Hanebeck, Frank Kirchner, Rüdiger Dillmann, Hans Heinrich Götting, Martin Weiser, Michael Gustmann, Thomas Egloffstein
In IEEE International Symposium on Safety, Security, and Rescue Robotics, (SSRR-2019), n.n., 2019.

2018

Learning of Multi-Context Models for Autonomous Underwater Vehicles
Bilal Wehbe, Luis Octavio Arriaga Camargo, Mario Michael Krell, Frank Kirchner
In Proceedings of the AUV 2018 IEEE/OES Porto, (AUV-2018), 6.11.-9.11.2018, Porto, IEEE, Nov/2018. IEEE/OES.
HyRoDyn: A Modular Software Framework for Solving Analytical Kinematics and Dynamics of Series-Parallel Hybrid Robots
Shivesh Kumar, Kai von Szadkowski, Andreas Müller, Frank Kirchner
In Poster at 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS-2018), 01.10.-05.10.2018, Madrid, IEEE/RSJ, series IROS Poster proceedings, pages 1-1, Oct/2018.
Design and Field Testing of a Rover with an Actively Articulated Suspension System in a Mars Analog Terrain
Florian Cordes, Frank Kirchner, Babu Ajish
In Journal of Field Robotics, Wiley, volume 35, number 7, pages 1149-1181, Oct/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.
Kinematic analysis of a novel parallel 2SPRR+1U ankle mechanism in humanoid robot
Shivesh Kumar, Abhilash Nayak, Heiner Peters, Christopher Schulz, Andreas Mueller, Frank Kirchner
In Advances in Robot Kinematics 2018, (ARK-2018), 01.7.-05.7.2018, Bologna, Springer-Verlag GmbH, series Springer Proceedings in Advanced Robotics, volume 8, pages 431-439, Jul/2018. ISBN: 978-3-319-93188-3.
Integrated Mechanical, Thermal, Data, and Power Transfer Interfaces for Future Space Robotics
Xiu-Tian Yan, Wiebke Brinkmann, Roberto Palazzetti, Craig Melville, Youhua Li, Sebastian Bartsch, Frank Kirchner
Editors: Markus Wilde
In Frontiers in Robotics and AI, ISSN 2296-9144, volume 5, pages 64, Jun/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.
The BesMan Learning Platform for Automated Robot Skill Learning
Lisa Gutzeit, Alexander Fabisch, Marc Otto, Jan Hendrik Metzen, Jonas Hansen, Frank Kirchner, Elsa Andrea Kirchner
In Frontiers in Robotics and AI, o.A., volume 5, pages 43, May/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.
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.
Design and Kinematic Analysis of the Novel Almost Spherical Parallel Mechanism Active Ankle
Shivesh Kumar, Bertold Bongardt, Marc Simnofske, Frank Kirchner
In Journal of Intelligent & Robotic Systems, Springer Nature, volume 94, number 2, pages 303-325, Mar/2018.
Design and evaluation of an end-effector for a reconfigurable multi-robot system for future planetary missions
Wiebke Brinkmann, Thomas M. Roehr, Sankaranarayanan Natarajan, Florian Cordes, Roland Sonsalla, Roman Szczuka, Sebastian Bartsch, Frank Kirchner
In Proceedings of the 2018 IEEE Aerospace Conference, 03.3.-10.3.2018, Big Sky, Montana, IEEE, pages 1-10, Mar/2018.
CAEMO - A Flexible and scalable high performance matrix algebra coprocessor for embedded reconfigurable computing systems
Hendrik Wöhrle, Frank Kirchner
In Microprocessors and Microsystems, Elsevier, volume o.A., pages 47-63, Feb/2018.
Trajectory generation method for robotic free-floating capture of a non-cooperative, tumbling target
Marko Jankovic, Frank Kirchner
In Stardust Final Conference: Advances in Asteroids and Space Debris Engineering and Science, 31.10.-03.11.2016, Noordwijk, Springer International Publishing AG, series Astrophysics and Space Science Proceedings Series, volume 52, Feb/2018. ISBN: 978-3-319-69955-4.
Taxonomy of LEO space debris population for ADR capture methods selection
Marko Jankovic, Frank Kirchner
In Stardust Final Conference: Advances in Asteroids and Space Debris Engineering and Science, 31.10.-3.11.2016, Noordwijk, Springer International Publishing AG, series Astrophysics and Space Science Proceedings Series, Feb/2018. ISBN: 978-3-319-69955-4.
Mechatronical design and analysis of a modular developed exoskeleton for rehabilitation purposes
Mehmed Yüksel, Luis Manuel Vaca Benitez, Dinmukhamed Zardykhan, Frank Kirchner
In Proceedings of ELECO 2017, (ELECO-2017), 29.11.-2.12.2017, Bursa, IEEE Xplore, Jan/2018. ISBN: 978-1-5386-1723-6.
How AI and Robotics can Support Marine Mining
Peter Kampmann, Leif Christensen, Martin Fritsche, Christopher Gaudig, Hendrik Hanff, Marc Hildebrandt, Frank Kirchner
In Offshore Technology Conference, (OTC-2018), 29.4.-4.5.2018, Houston, Texas, OnePetro, 2018.
Adaptive localization and mapping with application to planetary rovers
Javier Hidalgo Carrió, Pantelis Poulakis, Frank Kirchner
In Journal of Field Robotics, Wiley, volume 35, number 6, pages 961-987, 2018.
Verlässliche und skalierbare Sicherung von Zustandsdaten verteilter cyberphysischer Systeme
Hendrik Wöhrle, Peter Kampmann, Frank Kirchner
In Smart Energy 2018, (Smart Energy-2018), 08.11.-09.11.2018, Dortmund, vwh, Smart Energy 2018, 2018.
Conceptual Design of a Variable Stiffness Mechanism in a Humanoid Ankle using Parallel Redundant Actuation
Christoph Stoeffler, Shivesh Kumar, Heiner Peters, Olivier Bruels, Andreas Müller, Frank Kirchner
In IEEE-RAS International Conference on Humanoid Robots, (Humanoids-2018), 06.11.-09.11.2018, IEEE, 2018.

2017

Intrinsic interactive reinforcement learning - Using error-related potentials for real world human-robot interaction
Su-Kyoung Kim, Elsa Andrea Kirchner, Arne Stefes, Frank Kirchner
In Scientific Reports, Nature, volume 7: 17562, pages n.a., Dec/2017.
Adaptive multimodal biosignal control for exoskeleton supported stroke rehabilitation
Anett Seeland, Marc Tabie, Su-Kyoung Kim, Frank Kirchner, Elsa Andrea Kirchner
In IEEE International Conference on Systems, Man, and Cybernetics, (SMC-2017), 05.10.-08.10.2017, Banff, IEEE, Oct/2017.
Learning Magnetic Field Distortion Compensation for Robotic Systems
Leif Christensen, Mario Michael Krell, Frank Kirchner
In Intelligent Robots and Systems (IROS), (IROS), 24.9.-28.9.2017, Vancouver, BC, IEEE, Sep/2017.
Combining Cameras, Magnetometers and Machine-Learning into a Close-Range Localization System for Docking and Homing
Marc Hildebrandt, Leif Christensen, Frank Kirchner
In MTS/IEEE Oceans 2017 Anchorage, (OCEANS-2017), 18.9.-21.9.2017, Anchorage, Alaska, IEEE, Sep/2017.
Static Force Distribution and Orientation Control for a Rover with an Actively Articulated Suspension System
Florian Cordes, Babu Ajish, Frank Kirchner
In Proceedings of the 2017 IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS-17), 24.9.-28.9.2017, Vancouver, BC, IEEE/RSJ, Sep/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.
A Hybrid FPGA-Based System for EEG- and EMG-Based Online Movement Prediction
Hendrik Wöhrle, Marc Tabie, Su-Kyoung Kim, Frank Kirchner, Elsa Andrea Kirchner
In Sensors - Open Access Journal, MDPI, volume 17, number 7, pages 1552, Jul/2017.
AUVx - A Novel Miniaturized Autonomous Underwater Vehicle
Editors: Hendrik Hanff, Philipp Kloss, Bilal Wehbe, Peter Kampmann, Sven Kroffke, Aljoscha Sander, Miguel Bande Firvida, Maria von Einem, Jan Frederik Bode, Frank Kirchner
(OCEANS-17), 19.6.-22.6.2017, Aberdeen, o.A., Jun/2017. IEEE.
Experimental Evaluation of Various Machine Learning Regression Methods for Model Identification of Autonomous Underwater Vehicles
Bilal Wehbe, Marc Hidebrandt, Frank Kirchner
In Proceedings of 2017 International Conference on Robotics and Automation (ICRA), (ICRA-17), 29.5.-3.6.2017, Sands Expo and Convention Centre, IEEE, pages 4885-4890, May/2017. IEEE Robotics and Automation Society. ISBN: 9781509046324.
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.
Gaussian Process Estimation of Odometry Errors for Localization and Mapping
Javier Hidalgo Carrió, Daniel Hennes, Jakob Schwendner, Frank Kirchner
In IEEE International Conference on Robotics and Automation, (ICRA), 29.5.-03.6.2017, Singapore, IEEE, 2017.
Online Adaptive Modeling for Fault Detection of Underwater Thrusters
Samy Nascimento, Su-Kyoung Kim, Frank Kirchner
Editors: Abdel Aitouche
In Proceedings of the 14th International Workshop on Advanced Control and Diagnosis, (ACD-2017), 16.11.-17.11.2017, Bucharest, IEEE, 2017.
Kinematic analysis of Active Ankle using computational algebraic geometry
Shivesh Kumar, Abhilash Nayak, Bertold Bongardt, Andreas Mueller, Frank Kirchner
In Computational Kinematics, (CK-2017), 22.5.-24.5.2017, Poitiers, Springer, 2017.
Integrating Mimic Joints into Dynamics Algorithms – Exemplified by the Hybrid Recupera Exoskeleton
Shivesh Kumar, Marc Simnofske, Bertold Bongardt, Andreas Mueller, Frank Kirchner
In Proceedings of the 2017 Conference on Advances In Robotics, (AIR-2017), 28.6.-02.7.2017, New Delhi, ACM-ICPS, 2017.

2016

Task space controller for the novel Active Ankle mechanism
Shivesh Kumar, Bertold Bongardt, Marc Simnofske, Frank Kirchner
In International Conference on Robotics and Automation for Humanitarian Applications, (RAHA-16), 18.12.-20.12.2016, Amritapuri, Kerala, IEEE, series RAHA 2016 Poster Proceedings, pages 22, Kerala, India, Dec/2016. Amrita University.
Recupera-Reha: Exoskeleton Technology with Integrated Biosignal Analysis for Sensorimotor Rehabilitation
Elsa Andrea Kirchner, Niels Will, Marc Simnofske, Luis Manuel Vaca Benitez, Bertold Bongardt, Mario Michael Krell, Shivesh Kumar, Martin Mallwitz, Anett Seeland, Marc Tabie, Hendrik Wöhrle, Mehmed Yüksel, Anke Heß, Rüdiger Buschfort, Frank Kirchner
In 2. Transdisziplinäre Konferenz "Technische Unterstützungssysteme, die die Menschen wirklich wollen", 12.12.-13.12.2016, Hamburg, Elsevier, pages 504-517, Dec/2016.
hyperSPACE:Automated Optimization of Complex Processing Pipelines for pySPACE
Torben Hansing, Mario Michael Krell, Frank Kirchner
In BayesOpt2016 - Bayesian Optimization: Black-box Optimization and Beyond, (BayesOpt-2016), 10.12.2016, Barcelona, n.n., Dec/2016.
Proceedings of the RIC Project Day Workgroups ‘Locomotion & Mobility’ and ‘Navigation & Planning’
Editors: Florian Cordes, Leif Christensen, Frank Kirchner
series DFKI Documents, volume 16-03, Sep/2016. DFKI GmbH.
Proceedings of the RIC Project Day - Workgroups "Framework & Standardization" and "Manipulation & Control"
Editors: Thomas M. Roehr, Vinzenz Bargsten, Sankaranarayanan Natarajan, Frank Kirchner
series DFKI Documents, volume 16-01, Sep/2016. DFKI GmbH.
Taxonomy of LEO Space Debris Population for ADR Selection
Marko Jankovic, Frank Kirchner
In Proceedings of the 67th International Astronautical Congress, (IAC-2016), 26.9.-30.9.2016, Guadalajara, International Astronautical Federation (IAF), pages 1-15, Sep/2016.
Manipulation and Control
José de Gea Fernández, Elie Allouis, Karol Seweryn, Frank Kirchner, Yang Gao
Editors: Yang Gao
In Contemporary Planetary Robotics: An Approach Toward Autonomous Systems, Wiley-VCH Verlag GmbH & Co. KGaA, chapter 5, pages 255-319, Aug/2016. ISBN: 978-3-527-41325-6.
Spatio-Temporal Planning for a Reconfigurable Multi-Robot System
Thomas M. Roehr, Frank Kirchner
Editors: Alberto Finzi, Erez Karpas
In Proceedings of the 4th Workshop on Planning and Robotics, (PlanRob-2016), 13.6.-14.6.2016, London, o.A., pages 135-146, Jun/2016.
Development of a Self-Adaptive Gripper and Implementation of a Gripping Reflex to Increase the Dynamic Payload Capacity
Marc Manz, Sebastian Bartsch, Marc Simnofske, Frank Kirchner
In In Proceedings of ISR 2016, (ISR-2016), 21.6.-22.6.2016, München, VDE VERLAG GMBH, pages 56-62, Jun/2016. ISBN: 978-3-8007-4231-8.
Development and Control of the Multi-Legged Robot Mantis
Sebastian Bartsch, Marc Manz, Peter Kampmann, Alexander Dettmann, Hendrik Hanff, Malte Langosz, Kai von Szadkowski, Jens Hilljegerdes, Marc Simnofske, Philipp Kloss, Manuel Meder, Frank Kirchner
In Proceedings of ISR 2016: 47st International Symposium on Robotics, (ISR-2016), 21.6.-22.6.2016, München, VDE VERLAG GmbH, pages 379-386, Jun/2016. ISBN: 978-3-8007-4231-8.
Active Ankle - an Almost-Spherical Parallel Mechanism
Marc Simnofske, Shivesh Kumar, Bertold Bongardt, Frank Kirchner
In 47th International Symposium on Robotics (ISR 2016), (ISR), 21.6.-22.6.2016, Munich, VDE Verlag, pages 37-42, Jun/2016.
An intelligent man-machine interface - multi-robot control adapted for task engagement based on single-trial detectability of P300
Elsa Andrea Kirchner, Su-Kyoung Kim, Hendrik Wöhrle, Marc Tabie, Michael Maurus, Frank Kirchner
In Frontiers in Human Neuroscience, Frontiers, volume 10, pages 291, Jun/2016.
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.
Rekonfigurierbare Datenflussarchitekturen in der Robotik - Zukünftige robotische Systeme benötigen dezentrale und verteilte Rechenarchitekturen für Intelligenz und Autonomie
Hendrik Wöhrle, Frank Kirchner
In Industrie 4.0 Management, GITO Verlag, volume 2, number 4, pages 25-28, Mar/2016.
Control analysis for a contactless de-tumbling method based on eddy currents: problem definition and approximate proposed solutions
Natalia Ortiz Gómez, Scott J.I. Walker, Marko Jankovic, Juan Manuel Romero Martin, Frank Kirchner, Massimilano Vasile
In AIAA Guidance, Navigation, and Control Conference, (AIAA SciTech-2016), 04.1.-08.1.2016, San Diego, California, o.A., pages 1-25, Jan/2016. American Institute of Aeronautics and Astronautics. ISBN: DOI: 10.2514/6.2016-0642.
EnviRe - Environment Representation for Long-term Autonomy
Javier Hidalgo Carrió, Sascha Arnold, Arne Böckmann, Anna Born, Raúl Domínguez, Daniel Hennes, Christoph Hertzberg, Janosch Machowinski, Jakob Schwendner, Yong-Ho Yoo, Frank Kirchner
In AI for Long-term Autonomy Workshop on the International Conference on Robotics and Automation (ICRA), (ICRA-16), 16.5.-20.5.2016, Stockholm, o.A., 2016.

2015

Distortion-Robust Distributed Magnetometer for Underwater Pose Estimation in Confined UUVs
Leif Christensen, Christopher Gaudig, Frank Kirchner
In Proceedings of MTS IEEE OCEANS '15, (OCEANS-15), 19.10.-22.10.2015, Washington, DC, IEEE, pages 1-8, Oct/2015.
Agora: Mission to demonstrate technologies to actively remove Ariane rocket bodies
Kartik Kumar, Marko Jankovic, Natalia Ortiz G, Juan Manuel Romero Martin, Francesco Topputo, Scott Walker, Frank Kirchner, Massimiliano Vasile
In Proceedings of the International Astronautical Congress (IAC 2015), (IAC-2015), 12.10.-16.10.2015, Jerusalem, International Astronautical Federation (IAF), pages 1-16, Oct/2015.
Proceedings of the RIC Project Day 09/2014
Editors: Frank Kirchner, Florian Cordes, Michael Rohn
18.9.2014, Bremen, Selbstverlag, series DFKI Documents, volume 14-06, number 14-06, Sep/2015. DFKI Robotics Innovation Center. DFKI. ISBN: ISSN 0946-0098.
Proceedings of the RIC Project Day 09/2015
Editors: Frank Kirchner, Florian Cordes, Leif Christensen
series DFKI Documents, volume 15-03, pages 134, Sep/2015. DFKI GmbH.
Intuitive Interaction with Robots - Technical Approaches and Challenges
Elsa Andrea Kirchner, José de Gea Fernández, Peter Kampmann, Martin Schröer, Jan Hendrik Metzen, Frank Kirchner
In Formal Modeling and Verification of Cyber Physical Systems, Springer Heidelberg, pages 224-248, Sep/2015. ISBN: 978-3-658-09993-0.
Reconfigurable Hardware-Based Acceleration for Machine Learning and Signal Processing
Hendrik Wöhrle, Frank Kirchner
In Formal Modeling and Verification of Cyber-Physical Systems: 1st International Summer School on Methods and Tools for the Design of Digital Systems, (SyDe-2015), 09.9.-11.9.2015, Bremen, Springer Fachmedien Wiesbaden, series Lecture Notes in Computer Science, pages 311-313, Sep/2015.
Experience-Based Adaptation of Locomotion Behaviors for Kinematically Complex Robots in Unstructured Terrain
Alexander Dettmann, Anna Born, Sebastian Bartsch, Frank Kirchner
series DFKI Documents, volume 15-03, Sep/2015. DFKI GmbH, Universität Bremen.
An Experience-Based Interface for Abstracting the Motion Control of Kinematically Complex Robots
Alexander Dettmann, Sebastian Bartsch, Frank Kirchner
series DFKI Documents, volume 15-03, Sep/2015. DFKI GmbH, Universität Bremen.
Autonome Systeme: Technisch-wissenschaftliche Herausforderungen und Anwendungspotentiale
Wolfgang Wahlster, Frank Kirchner
series DFKI Documents, volume 15-04, pages 20, Jul/2015. DFKI.
An Adaptive Spatial Filter for User-Independent Single Trial Detection of Event-Related Potentials
Hendrik Wöhrle, Mario Michael Krell, Sirko Straube, Su-Kyoung Kim, Elsa Andrea Kirchner, Frank Kirchner
In IEEE Transactions on Biomedical Engineering, IEEE, volume 62, number 7, pages 1696-1705, Jul/2015.
Proceedings of the RIC Project Day 03/2015
Editors: Frank Kirchner, Thomas M. Roehr
19.3.2015, Bremen, Selbstverlag, series DFKI Documents, volume 15-01, number 15-01, May/2015. DFKI Robotics Innovation Center. DFKI. ISBN: ISSN 0946-0098.
GNC architecture for autonomous robotic capture of a non-cooperative target: Preliminary concept design
Marko Jankovic, Jan Paul, Frank Kirchner
In Advances in Space Research, Elsevier B.V., volume 57, number 8, pages 1715-1736, May/2015.
Spacecraft Concept for Active De-Tumbling and Robotic Capture of Ariane Rocket Bodies
Marko Jankovic, Kartik Kumar, Natalia Ortiz Gómez, Juan Manuel Romero Martin, Frank Kirchner, Francesco Topputo, Scott Walker, Massimiliano Vasile
In Proceedings of Advanced Space Technologies in Robotics and Automation-ASTRA 2015, 11.5.-13.5.2015, Noordwijk, European Space Agency (ESA), May/2015. European Space Agency (ESA).
Coyote III: Development of a Modular and highly Mobile Micro Rover
Roland Sonsalla, Joel Bessekon, Frank Kirchner
In Proceedings of the 13th Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA-2015), (ASTRA-2015), Noordwijk, The Netherlands, ESA, May/2015. ESA.
Current Capabilities and Development Potential in Surgical Robotics
Mathias Goy, Imre J. Rudas, Paolo Fiorini, Frank Kirchner, Tamas Haidegger
In International Journal of Advanced Robotic Systems, InTech, volume 12, pages n.b., May/2015.
Spatio-temporal Comparison between ERD/ERS and MRCP-based Movement Prediction
Anett Seeland, Laura Manca, Frank Kirchner, Elsa Andrea Kirchner
In Proceedings of the 8th International Conference on Bio-inspired Systems and Signal Processing (BIOSIGNALS-15), (BIOSIGNALS-15), 12.1.-15.1.2015, Lisbon, ScitePress, pages 219-226, Jan/2015.
Concept of a Data Thread Based Parking Space Occupancy Prediction in a Berlin Pilot Region
Tim Tiedemann, Thomas Vögele, Mario Michael Krell, Jan Hendrik Metzen, Frank Kirchner
In Papers from the 2015 AAAI Workshop, (WAIT-2015), 25.1.-26.1.2015, Austin, AAAI Press, Jan/2015.
Accounting for Task-Difficulty in Active Multi-Task Robot Control Learning
Alexander Fabisch, Jan Hendrik Metzen, Mario Michael Krell, Frank Kirchner
Editors: Hermann Engesser
In KI - Künstliche Intelligenz, German Journal on Artificial Intelligence - Organ des Fachbereiches "Künstliche Intelligenz" der Gesellschaft für Informatik e.V., Springer Verlag GmbH Heidelberg, the final publication is available at http://link.springer.com, volume 29, pages 369-377, 2015.
Newton--Euler equations in general coordinates
Bertold Bongardt, Frank Kirchner
In Mathematics of Robotics (IMA), (IMA-2015), 09.9.-11.9.2015, Oxford, IMA, St Anne’s College University of Oxford, 2015.
An Evaluation of Artificial Fiducial Markers In Underwater Environments
Diego Cesar, Christopher Gaudig, Martin Fritsche, Marco Reis, Frank Kirchner
In OCEANS, (OCEANS-15), 18.5.-21.5.2015, Genova, IEEE, 2015.
Proceedings of the RIC Project Day 06/2015
Editors: Frank Kirchner, Peter Kampmann, Marc Simnofske
series DFKI Documents, volume 15-02, pages 116, 2015. DFKI GmbH.
A Robust Electro-Mechanical Interface for Cooperating Heterogeneous Multi-Robot Teams
Wiebke Wenzel, Florian Cordes, Frank Kirchner
In IROS 2015 Proceedings, (IROS-2015), 28.9.-02.10.2015, Hamburg, IROS, pages 1732-1737, 2015. ISBN: 978-1-4799-9994-1.
Probabilistic Situation Detection for Human-Robot Interaction in an OP Lab Environment
Luzie Schreiter, Elmar Berghöfer, Tim Beyl, Lisa Gutzeit, Joerg Raczkowsky, Frank Kirchner, Heinz Woern
In Tagungsband der 14. Jahrestagung der Deutschen Gesellschaft f{{\"u}}r Computer- und Roboterassistierte Chirurgie e.V, (CURAC-15), 17.9.-19.9.2015, Bremen, Fraunhofer MEVIS, pages 99-104, 2015.
Towards a fine manipulation system with tactile feedback for deep-sea environments
Peter Kampmann, Frank Kirchner
In Robotics and Autonomous Systems, Elsevier, volume 67, pages 115-121, 2015.
Robotic System for Active Debris Removal: Requirements, State-of-the-Art and Concept Architecture of the Rendezvous and Capture (RVC) Control System
Marko Jankovic, Kartik Kumar, Natalia Ortiz Gomez, Juan Manuel Romero Martin, Frank Kirchner, Francesco Topputo, Scott J. I. Walker, Massimiliano Vasile
In 5th CEAS Air & Space Conference Proceedings, (CEAS-2015), 07.9.-11.9.2015, Delft, Council of European Aerospace Societies (CEAS), pages 1-15, 2015.
Experience-Based Adaptation of Locomotion Behaviors for Kinematically Complex Robots in Unstructured Terrain
Alexander Dettmann, Anna Born, Sebastian Bartsch, Frank Kirchner
In In Proceedings of the 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2015), (IROS-2015), 28.9.-01.10.2015, Hamburg, IEEE, pages 4504-4511, 2015. IEEE.
CSurvey—An autonomous optical inspection head for AUVs
Jan Albiez, Alexander Duda, Martin Fritsche, Felix Rehrmann, Frank Kirchner
In Robotics and Autonomous Systems, ELSEVIER, volume 67, pages 72-79, 2015.
An Experience-Based Interface for Abstracting the Motion Control of Kinematically Complex Robots
Alexander Dettmann, Sebastian Bartsch, Frank Kirchner
In Proceedings of ASTRA 2015, (ASTRA-2015), 11.5.-13.5.2015, Noordwijk, ASTRA, 2015.
INVERITAS: A Facility for Hardware-in-the-Loop Long Distance Movement Simulation for Rendezvous and Capture of Satellites and Other Autonomous Objects
Jan Paul, Alexander Dettmann, B. Girault, Jens Hilljegerdes, Frank Kirchner, I. Ahrns, J. Sommer
In Acta Astronautica, Elsevier B.V., volume 116, number 0, pages 1-24, 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.
On-Board Simulator for Autonomy Enhancement in Robotic Space Missions
Raúl Domínguez, Jakob Schwendner, Frank Kirchner
In Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), (ASTRA), 11.5.-13.5.2015, Noordwijk, inproceedings ASTRA, 2015.
Entern -- Environment Modelling and Navigation for Robotic Space-Exploration
Jakob Schwendner, Javier Hidalgo Carrió, Raúl Domínguez, Steffen Planthaber, Yong-Ho Yoo, Behnam Asadi, Janosch Machowinski, Christian Rauch, Frank Kirchner
In Symposium on Advanced Space Technologies in Robotics and Automation (ASTRA), (ASTRA), 11.5.-13.5.2015, Noordwijk, inproceedings ASTRA, 2015.
Soil Contact Model for Environment Representation and Simulation of Legged Robot on Planetary Surface
Yong-Ho Yoo, Jakob Schwendner, Javier Hidalgo Carrió, Frank Kirchner
Editors: C. W. Fervers
In ISTVS 13th European Conference, (ISTVS-2015), 21.10.-23.10.2015, Rome, ISTVS, 2015.
Online Adaptation of a Man-Machine Interface with Respect to Task Engagement and Task Load
Elsa Andrea Kirchner, Su-Kyoung Kim, Hendrik Wöhrle, Marc Tabie, Johannes Teiwes, Frank Kirchner
In Proceedings of the 11. Berliner Werkstatt Mensch-Maschine-Systeme (BWMMS), 2015, (BWMMS), 07.10.-09.10.2015, Berlin, BWMMS, 2015.
Equipping industrial deep-sea manipulators with a sense of touch
Peter Kampmann, Timo Stoffregen, Frank Kirchner
In Proceedings of the Oceans'15 MTS/IEEE Washington Conference & Exhibition, At Washington D.C., (OCEANS-15), 19.10.-22.10.2015, Washington D.C., MTS/IEEE, 2015.
Haptic Object Recognition in Underwater and Deep-Sea Environments
Achint Aggarwal, Peter Kampmann, Johannes Lemburg, Frank Kirchner
In Journal of Field Robotics, Wiley Blackwell, volume 32 - Special Issue on Alternative Sensing Techniques for Robot Perception, number 1, pages 167-185, 2015.
BLDC wheel hub motor and motor controller performance test of a concept electric robotic vehicle in HIL according to real driving characteristics
Mehmed Yüksel, Stefan Lösch, Sven Kroffke, Michael Rohn, Frank Kirchner
In 2015 9th International Conference on Electrical and Electronics Engineering (ELECO), (ELECO-2015), 26.11.-28.11.2015, Bursa, Chamber of Electrical Engineers of Turkey, pages 613-617, 2015. IEEE. ISBN: 978-6-0501-0737-1.

2014

Autonome Systeme für automatisierte Unterwasser-Inspektion von Offshore-Windkraftanlagen
Marc Ronthaler, Sirko Straube, Sebastian Bartsch, Marco Lewandowski, Stephan Oelker, Frank Kirchner
In Tagungsband "Logistik für die Windenergie - Herausforderungen und Lösungen für modern Windkraftwerke", 03.12.-03.12.2014, Bremen, epubli GmbH, pages 115-122, Dec/2014.
Proceedings of the RIC Project Day 11/2014 - Workgroups ‘Signal Processing’ and ‘Interaction & Generic Multi Robot Control Interface (ROCON)’
Editors: Tim Tiedemann, Elsa Andrea Kirchner, Frank Kirchner
series DFKI Documents, volume 14-07, pages 116, Nov/2014. DFKI GmbH.
Generalizing, Optimizing, and Decoding Support Vector Machine Classification
Mario Michael Krell, Sirko Straube, Hendrik Wöhrle, Frank Kirchner
series DFKI Documents, volume 14-07, Nov/2014. DFKI GmbH.
Predictions of Movements by Online Analysis of Electroencephalogram with Dataflow Accelerators
Hendrik Wöhrle, Johannes Teiwes, Marc Tabie, Anett Seeland, Elsa Andrea Kirchner, Frank Kirchner
series DFKI Documents, volume 14-07, pages 10, Nov/2014. DFKI GmbH, Universität Bremen.
Using Embodied Data for Localisation and Mapping
Jakob Schwendner, Sylvain Joyeux, Frank Kirchner
In Journal of Field Robotics, Wiley Blackwell, volume 31, pages 263-295, Nov/2014.
Prediction of Movements by Online Analysis of Electroencephalogram with Dataflow Accelerators
Hendrik Wöhrle, Johannes Teiwes, Marc Tabie, Anett Seeland, Elsa Andrea Kirchner, Frank Kirchner
In International Congress on Neurotechnology, Electronics and Informatics, (NEUROTECHNIX), 25.10.-26.10.2014, Rome, SpringerSCITEPRESS – Science and Technology Publications, Oct/2014.
Generalizing, Optimizing, and Decoding Support Vector Machine Classification
Mario Michael Krell, Sirko Straube, Hendrik Wöhrle, Frank Kirchner
In European Conference on Machine Learning and Principles and Practice of Knowledge Discovery in Databases, (ECML PKDD-14), 15.9.-19.9.2014, Nancy, o.A., Sep/2014.
Reconfigurable Dataflow Hardware Accelerators for Machine Learning and Robotics
Hendrik Wöhrle, Johannes Teiwes, Mario Michael Krell, Anett Seeland, Elsa Andrea Kirchner, Frank Kirchner
In Proceedings of European Conference on Machine Learning and Principles and Practice of Knowledge Discovery in Databases, (ECML PKDD-2014), 15.9.-19.9.2014, Nancy, Springer, pages 129-138, Sep/2014.
Static forces weighted Jacobian motion models for improved Odometry
Javier Hidalgo Carrió, Babu Ajish, Frank Kirchner
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS-2014), 14.9.-18.9.2014, Chicago, IEEE, Sep/2014.
A Validation Process for Underwater Localization Algorithms
Marc Hildebrandt, Christopher Gaudig, Leif Christensen, Sankaranarayanan Natarajan, Javier Hidalgo Carrió, Patrick Merz Paranhos, Frank Kirchner
In International Journal of Advanced Robotic Systems, Intech, volume 11, pages 1-10, Sep/2014.
Autonomous Path Tracking Steering Controller for Extraterrestrial Terrain Exploration Rover
Mohammed Ahmed, Roland Sonsalla, Frank Kirchner
In 40th COSPAR Scientific Assembly 2014, (COSPAR-2014), 02.8.-10.8.2014, Moscow, Elsevier, Aug/2014.
Proceedings of the RIC Project Day 07/2014
Editors: Frank Kirchner, Peter Kampmann, Marc Simnofske
24.7.2014, Bremen, Selbstverlag, series DFKI Documents, volume D-14-05 , number 14-05, Jul/2014. DFKI Robotics Innovation Center. DFKI GmbH. ISBN: ISSN 0946-0098.
Introducing Particle Swarm Optimization Into a Genetic Algorithm to Evolve Robot Controllers
Malte Langosz, Kai von Szadkowski, Frank Kirchner
In Proceedings of Genetic and Evolutionary Computation Conference, (GECCO-2014), 12.7.-16.7.2014, Vancouver, o.A., Jul/2014.
Robotics Rendezvous & Capture Test Facility "Inveritas"
Jan Paul, Frank Kirchner, Ingo Ahrns, J. Sommer
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.
Proceedings of the RIC Project Day 06/2014
Editors: Frank Kirchner, Bertold Bongardt, Thomas M. Roehr
19.6.2014, Bremen, Selbstverlag, series DFKI Documents, volume D-14-03, number 14-03, Jun/2014. DFKI GmbH. ISBN: ISSN 0946-0098.
Space Robotics: An Overview of Challenges, Applications and Technologies
Jakob Schwendner, Frank Kirchner
In KI - Künstliche Intelligenz, German Journal on Artificial Intelligence - Organ des Fachbereiches "Künstliche Intelligenz" der Gesellschaft für Informatik e.V., Springer, volume 28, number 2, pages 67-69, Jun/2014.
Design of a High Mobile Micro Rover within a Dual Rover Configuration for Autonomous Operations
Roland Sonsalla, Yashodhan Nevatia, Martin Fritsche, Joel Bessekon, Jeremi Gancet, 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.
Towards a Heterogeneous Modular Robotic Team in a Logistic Chain for Extraterrestrial Exploration
Roland Sonsalla, Florian Cordes, Leif Christensen, Steffen Planthaber, Jan Albiez, Ingo Scholz, 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.
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.
A Framework for Design, Test, and Validation of Electric Car Modules
Mehmed Yüksel, Mohammed Ahmed, Benjamin Girault, Timo Birnschein, Frank Kirchner
In Advanced Microsystems for Automotive Applications 2014 Smart Systems for Safe, Clean and Automated Vehicles, (AMAA-2014), 23.6.-24.6.2014, Berlin, Springer International Publishing, pages 245-254, Jun/2014. ISBN: 978-3-319-08086-4.
Enhancing Mobility using Innovative Technologies and Highly Flexible Autonomous Vehicles
Timo Birnschein, Christian Oekermann, Mehmed Yüksel, Benjamin Girault, Roman Szczuka, David Grünwald, Sven Kroffke, Mohammed Ahmed, Yong-Ho Yoo, Frank Kirchner
In Advanced Microsystems for Automotive Applications 2014, (AMAA), 23.6.-24.6.2014, Berlin, Springer, pages 49-58, Jun/2014.
Sensor Fault Detection and Compensation in Lunar/Planetary Robot Missions Using Time-Series Prediction Based on Machine Learning
Tim Köhler, Elmar Berghöfer, Christian Rauch, Frank Kirchner
In Acta Futura, ESA Advanced Concepts Team, ESTEC, volume Issue 9: AI in Space Workshop at IJCAI 2013, pages 9-20, May/2014.
Integration of Fiber-Optic Sensor Arrays into a Multi-Modal Tactile Sensor Processing System for Robotic End-Effectors
Peter Kampmann, Frank Kirchner
In Sensors - Open Access Journal, MDPI - Open Access Publishing, volume 14 - Special Issue Tactile Sensors and Sensing Systems, number 4, pages 6854-6876, Apr/2014.
Automatic classification of epilepsy types using ontology-based and genetics-based machine learning
Yohannes Kassahun, Roberta Perrone, Elena De Momi, Elmar Berghöfer, Laura Tassi, Maria Paola Canevini, Roberto Spreafico, Giancarlo Ferrigno, Frank Kirchner
In Artificial Intelligence in Medicine, Elsevier, volume 61, pages 79-88, Mar/2014.
Object Recognition and Localization: The Role of Tactile Sensors
Achint Aggarwal, Frank Kirchner
In Sensors - Open Access Journal, MDPI AG, Basel, Switzerland, volume 14 - Special Issue on Tactile Sensors and Sensing Systems, number 2, pages 3227-3266, Feb/2014.
Design and Implementation of a Long Range Visual Terrain Classifier for Legged Robots
Mohammed Ahmed, Frank Kirchner
In Proceedings of the World Symposium on Computer Applications & Research WSCAR'2014, (WSCAR-2014), 18.1.-20.1.2014, Sousse, IEEE, pages 117-122, Jan/2014. ISBN: 978-1-4799-2805-7.
Cosimulation Environment for Mechanical Design Optimization with Evolutionary Algorithms
Mohammed Ahmed, Christian Oekermann, Frank Kirchner
In Proceeding of the World Symposium on Computer Applications & Research WSCAR'2014, (AAAI-2014), 18.1.-21.1.2014, Sousse, IEEE, pages 21-26, Jan/2014. ISBN: 978-1-4799-2805-7.
Space robotics: towards an architecture for autonomous mobile manipulation
Frank Kirchner, José de Gea Fernández, Sylvain Joyeux, Jakob Schwendner
Editors: Massimiliano Vasile, Victor M. Becerra
In Computational Intelligence in the Aerospace Sciences, American Institute of Aeronautics and Astronautics (AIAA), chapter 9, pages 295-323, 2014. ISBN: 978-1-62410-260-8.
A Robot Application for Marine Vessel Inspection
Markus Eich, Francisco Bonnin, Emilio Garcia, Alberto Ortiz, Gabriele Bruzzone, Yannis Koveos, Frank Kirchner
In Journal of Field Robotics, Wiley-Blackwell, volume o.A., pages ---, 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

Introduction to pySPACE workflows
Mario Michael Krell, Sirko Straube, Anett Seeland, Hendrik Wöhrle, Johannes Teiwes, Jan Hendrik Metzen, Elsa Andrea Kirchner, Frank Kirchner
In n/a, (MLOSS@NIPS-2013), 05.12.-10.12.2013, Lake Tahoe, NV, n/a, Dec/2013.
pySPACE - a signal processing and classification environment in Python
Mario Michael Krell, Sirko Straube, Anett Seeland, Hendrik Wöhrle, Johannes Teiwes, Jan Hendrik Metzen, Elsa Andrea Kirchner, Frank Kirchner
In Frontiers in Neuroinformatics, frontiers, volume 7, number 40, pages 1-11, Dec/2013.
Computational Intelligence for Space Systems and Operations
Yang Gao, Nicola Policella, Frank Kirchner
In IEEE Computational Intelligence Magazine, IEEE, volume 8, number 4, pages o.A., Nov/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.
Spaceclimber: A Six-Legged Robot For Extraterrestrial Surface Exploration In Unstructured And Steep Terrain
Sebastian Bartsch, Frank Kirchner
In Proceedings of the Seventh International Workshop on Robotics for Risky Environment - Extreme Robotics, (IARP RISE-ER-2013), 01.10.-03.10.2013, St. Petersburg, o.A., Oct/2013.
Design of an Autonomous Under-Ice Exploration System
Marc Hildebrandt, Jan Albiez, Marius Wirtz, Philipp Kloss, Jens Hilljegerdes, Frank Kirchner
In MTS/IEEE Oceans 2013 San Diego, (OCEANS-2013), 23.9.2013, San Diego, CA, IEEE, pages 1-6, Sep/2013.
Comparison of Sensor-Feedback Prediction Methods for Robust Behavior Execution
Christian Rauch, Elmar Berghöfer, Tim Köhler, Frank Kirchner
In KI 2013: From Research to Innovation and Practical Applications, (KI-13), 16.9.-20.9.2013, Koblenz, Springer, pages 200-211, Sep/2013. ISBN: 978-3-642-40941-7.
A Dataflow-Based Mobile Brain Reading System on Chip with Supervised Online Calibration
Hendrik Wöhrle, Johannes Teiwes, Mario Michael Krell, Elsa Andrea Kirchner, Frank Kirchner
In Congress Proceedings (http://www.neurotechnix.org/), (NEUROTECHNIX-2013), 18.9.-20.9.2013, Vilamoura, SCITEPRESS Digital Library, Sep/2013.
Comparison of distributed source localization methods for EEG data
Anett Seeland, Sirko Straube, Frank Kirchner
In Perception - ECVP Abstract Supplement, (ECVP-2013), 25.8.-29.8.2013, Bremen, Pion Ltd., volume 42, pages 220, Aug/2013.
Reconfigurable Integrated Multirobot Exploration System (RIMRES): Heterogeneous Modular Reconfigurable Robots for Space Exploration
Thomas M. Roehr, Florian Cordes, Frank Kirchner
In Journal of Field Robotics, Wiley Periodicals, Inc., volume Special Issue on Space Robotics, Part 2, pages 3-34, Aug/2013.
A Behavior-based Library for Locomotion Control of Kinematically Complex Robots
Malte Langosz, Sebastian Bartsch, Alexander Dettmann, Frank Kirchner, Lorenz Quack
In Proceedings of the 16th International Conference on Climbing and Walking Robots, (CLAWAR-2013), 14.7.-17.7.2013, Sydney, NSW, o.A., Jul/2013.
Multifunctional Robot Test Facility for on-orbit and extraterrestrial surface exploration
Benjamin Girault, Sebastian Bartsch, Frank Kirchner
In Proceedings of Ground-based Space facilities symposium, (GBSF-2013), 12.6.-14.6.2013, Paris, o.A., Jun/2013.
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.
Concept Study For The Faster Micro Scout Rover
Roland Sonsalla, Martin Fritsche, Thomas Vögele, Frank Kirchner
In Proceedings of the 12th Symposium on Advanced Space Technologies in Robotics and Automation, (ASTRA-2013), 15.5.-17.5.2013, Noordwijk, o.A., May/2013.
MANTIS - A Robot With Advanced Locomotion And Manipulation Abilities
Marc Manz, Sebastian Bartsch, Frank Kirchner
In Proceedings of the 12th Symposium on Advanced Space Technologies in Robotics and Automation, (ASTRA-2013), 15.5.-17.5.2013, Noordwijk, o.A., May/2013.
RIMRES: A project summary
Thomas M. Roehr, Florian Cordes, Frank Kirchner
In Proceedings of ICRA 2013 Planetary Rovers Workshop, (ICRA-2013), 05.5.-10.5.2013, Karlsruhe, o.A., May/2013.
Reducing Intersample Ripple of Actuator in Multirate Environment by A Joint Space Interpolator
Lan Yue Ji, Frank Kirchner
In The 6th IFAC Symposium on Mechatronic Systems, (Mechatronics-2013), 10.4.-12.4.2013, Hangzhou, o.A., Apr/2013.
Autonomie und Robustheit in Verteilten Cyber-Physical Systems und Sensorischen Materialien mit Methoden der Künstlichen Intelligenz
Stefan Bosse, Frank Kirchner
In Industrie Management - Zeitschrift für industrielle Geschäftsprozesse, Gito mbH Verlag für Industrielle Informationstechnik und Organisation, volume 1/2013, pages 24-28, Mar/2013.
Towards Assistive Robotics for Home Rehabilitation
Elsa Andrea Kirchner, Jan Albiez, Anett Seeland, Mathias Jordan, Frank Kirchner
In Proceedings of the 6th International Conference on Biomedical Electronics and Devices, (BIODEVICES-13), 11.2.-14.2.2013, Barcelona, o.A., Feb/2013.
Incremental Learning of Skill Collections based on Intrinsic Motivation
Jan Hendrik Metzen, Frank Kirchner
In Frontiers in Neurorobotics, o.A., volume 7, number 11, pages 1-12, 2013.
Learning in Compressed Space
Alexander Fabisch, Yohannes Kassahun, Hendrik Wöhrle, Frank Kirchner
In Neural Networks, Elsevier, volume 42, pages 83-93, 2013.
A Framework for High Performance Embedded Signal Processing and Classification of Psychophysiological Data
Hendrik Wöhrle, Johannes Teiwes, Elsa Andrea Kirchner, Frank Kirchner
In APCBEE Procedia, (ICBET-2013), 19.5.-20.5.2013, Kopenhagen, Elsevier, 2013.

2012

Concept of Actuation and Control for the EO Smart Connecting Car (EO scc)
Michael Jahn, Martin Schröer, Yong-Ho Yoo, Mehmed Yüksel, Frank Kirchner
In Proceedings of International Conference on Intelligent Robotics and Applications, (ICIRA-12), 03.10.-05.10.2012, Montreal, Québec, Springer, volume 7506, pages 87-98, Oct/2012. ISBN: 978-3-642-33508-2.
Hybrid Pressure-Tolerant Electronics
Peter Kampmann, Johannes Lemburg, Hendrik Hanff, Frank Kirchner
In Proceedings of the Oceans 2012 MTS/IEEE Hampton Roads Conference & Exhibition, (OCEANS-2012), 14.10.-19.10.2012, Hampton Roads, Virginia, o.A., Oct/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.
Concept of a Biologically Inspired Robust Behaviour Control System
Tim Köhler, Christian Rauch, Martin Schröer, Elmar Berghöfer, Frank Kirchner
In Proceedings of International Conference on Intelligent Robotics and Applications 2012, (ICIRA-12), 03.10.-05.10.2012, Montreal, Québec, Springer Berlin / Heidelberg, pages 486-495, Oct/2012. ISBN: 978-3-642-33514-3.
Development of a Lightweight Manipulator Arm using Heterogeneous Materials and Manufacturing Technologies
Marc Manz, Alexander Dettmann, Jens Hilljegerdes, Frank Kirchner
In Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2012), (iSAIRAS-2012), 04.9.-06.9.2012, Turin, o.A., Sep/2012.
An innovative, comprehensive concept for energy efficient electric mobility - EO smart connecting car
Timo Birnschein, Frank Kirchner, Benjamin Girault, Mehmed Yüksel, Janosch Machowinski
In 2012 IEEE International Energy Conference and Exhibition (EnergyCon), (EnergyCon-2012), 09.9.2012, Florence, IEEE Explore, pages 1028-1033, Sep/2012.
A Concept of a Reliable Three-Layer Behaviour Control System for Cooperative Autonomous Robots
Christian Rauch, Tim Köhler, Martin Schröer, Elmar Berghöfer, Frank Kirchner
In Proceedings of the German Conference on Artificial Intelligence, (KI-2012), 24.9.-27.9.2012, Saarbrücken, o.A., Sep/2012.
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.
RIMRES: A Modular Reconfigurable Heterogeneous Multi-Robot Exploration System
Florian Cordes, Thomas M. Roehr, Frank Kirchner
In Proceedings of the International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS 2012), (iSAIRAS-2012), 04.9.-06.9.2012, Turin, o.A., Sep/2012.
A Bio-inspired Control System for a Wearable Human-Machine Interface
Michele Folgheraiter, Mathias Jordan, Jan Albiez, Frank Kirchner
In From Animals to Animats 12 - 12th International Conference on Simulation of Adaptive Behavior, SAB 2012. Proceedings, (SAB-2012), 27.8.-31.8.2012, Odense, Springer, series Lecture Notes in Computer Science, volume 7426, pages 117-126, Aug/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.
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.
Planetary Rover Localization Design: Antecedents and Directions
Javier Hidalgo Carrió, Jakob Schwendner, Frank Kirchner
In 2012 IEEE Intelligent Vehicle Symposium, (IV-2012), 03.6.-07.6.2012, Madrid, o.A., Jun/2012. ISBN: 978-84-695-3472-4.
A Magnetic Climbing Robot for Marine Inspection Services
Kristin Fondahl, Markus Eich, Johannes Wollenberg, Frank Kirchner
In Proceedings of the 11th International Conference on Computer and IT Applications in the Maritime Industries, (COMPIT-2012), 16.4.-18.4.2012, Líege, o.A., Apr/2012.
Smart Energy Management and Energy Distribution in Decentralized Self-Powered Sensor Networks using Artificial Intelligence Concepts
Frank Kirchner, Stefan Bosse
In Proceedings of the Smart Systems Integration Conference SSI 2012, (SSI-12), 21.3.-22.3.2012, Zürich, o.A., Mar/2012.
A Tactile Sensing System for Underwater Manipulation
Peter Kampmann, Frank Kirchner
In Proceedings of the workshop on: Advances in Tactile Sensing and Touch based Human-Robot Interaction to be held in conjunction with the 7th ACM/IEEE International Conference on Human-Robot Interaction (HRI 2012), (HRI-12), 05.3.-08.3.2012, Boston, Massachusetts, o.A., Mar/2012.
Towards Electric Mobility Data Mining
Timo Duchrow, Martin Schröer, Britta Griesbach, Sebastian Kasperski, Fabian Maas genannt Bermpohl, Stefan Kramer, Frank Kirchner
In Proceedings of the International Electric Vehicle Conference , (IEVC-12), 04.3.-08.3.2012, Greenville, o.A., Mar/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.
Locomotion Modes for a Hybrid Wheeled-Leg Planetary Rover
Florian Cordes, Alexander Dettmann, Frank Kirchner
In Proceedings of the 2011 IEEE International Conference on Robotics and Biomimetics, (IEEE-ROBIO-11), 07.12.-11.12.2011, Phuket, o.A., pages 2586-2592, Dec/2011. ISBN: 978-1-4577-2137-3.
Conceptual and Embodiment Design of Robotic Prototypes
Johannes Lemburg, Frank Kirchner
Editors: Nikos Tsagarikis
In International Journal of Humanoid Robotics, World Scientific Publishing Co., volume 08, number 3/2011, pages 419-437, Nov/2011.
Predictive Compliance for Interaction Control of Robot Manipulators
José de Gea Fernández, Frank Kirchner
In Proceedings of the International Conference on Intelligent Robots and Systems, (IROS-2011), 25.9.-30.9.2011, San Francisco, CA, o.A., pages 4134-4140, Sep/2011. ISBN: 978-1-61284-455-8/11.
Tank inspection by cost effective rail based robots
Leif Christensen, Johannes Lemburg, Thomas Vögele, Frank Kirchner, Niklas Fischer, Reinhard Ahlers, George Psarros, Lars-Eric Etzold
In Proceedings of the 15th International Conference on Computer Applications in Shipbuilding, (ICCAS-11), 20.9.-22.9.2011, Trieste, o.A., Sep/2011.
A small-scale actuator with passive-compliance for a fine-manipulation deep-sea manipulator
Johannes Lemburg, Peter Kampmann, Frank Kirchner
In Proceedings of the OCEANS 2011 MTS/IEEE KONA Conference & Exhibition, (OCEANS-11), 19.9.2011, Kona, Hawaii, o.A., Sep/2011. ISBN: 978-0-933957-39-8.
On Transferring Spatial Filters in a Brain Reading Scenario
Jan Hendrik Metzen, Su-Kyoung Kim, Timo Duchrow, Elsa Andrea Kirchner, Frank Kirchner
In Proceedings of the 2011 IEEE Workshop on Statistical Signal Processing, (SSP-2011), 28.6.-30.6.2011, Nice, o.A., pages 797-800, Jun/2011. ISBN: 978-1-4577-0569-4.
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.
Intelligent Mobility - Autonomous Outdoor Robotics at the DFKI
Sylvain Joyeux, Jakob Schwendner, Frank Kirchner, Babu Ajish, Felix Grimminger, Janosch Machowinski, Patrick Merz Paranhos, Christopher Gaudig
In KI - Künstliche Intelligenz, German Journal on Artificial Intelligence - Organ des Fachbereiches "Künstliche Intelligenz" der Gesellschaft für Informatik e.V., Springer, volume 25 - Special Issue on Off-road Robotics, number 2, pages 133-139, May/2011.
Heterogeneous Modules with a Homogeneous Electromechanical Interface in Multi-Module Systems for Space Exploration
Alexander Dettmann, Zhuowei Wang, Wiebke Wenzel, Florian Cordes, Frank Kirchner
In 2011 IEEE International Conference on Robotics and Automation, (ICRA-11), 09.5.-13.5.2011, Shanghai, o.A., pages 1964-1969, May/2011.
Distributed Compliance Controller for Legged-Robot with Geared Brushless DC Joints
Lan Yue Ji, Sebastian Bartsch, Frank Kirchner
In Proceedings of the 11th Symposium on Advanced Space Technologies in Robotics and Automation, (ASTRA-11), 12.4.-15.4.2011, Noordwijk, o.A., Apr/2011.
Smart Energy Management and Low-Power Embedded System Design
Stefan Bosse, Frank Kirchner
In SPIE Newsroom, o.A., volume o.A., pages o.A., Apr/2011.
Smart Energy Management and Low-Power Design of Embedded Systems on Algorithmic Level for Self-Powered Sensorial Materials and Robotics
Stefan Bosse, Thomas Behrmann, Frank Kirchner
In Proceedings of the Smart Systems Integration Conference 2011, (SSI-11), 22.3.-23.3.2011, Dresden, o.A., Mar/2011.
Robust Robots for Arctic Exploration
Thomas Vögele, Jan Albiez, Sylvain Joyeux, Marc Hildebrandt, Frank Kirchner
In Proceedings of ATC Arctic Technology Conference 2011, (ATC-2011), 07.2.-09.2.2011, Houston, TX, o.A., volume 2, pages 731-737, Feb/2011.
A multimodal brain-arm interface for operation of complex robotic systems and upper limb motor recovery
Michele Folgheraiter, Elsa Andrea Kirchner, Anett Seeland, Su-Kyoung Kim, Mathias Jordan, Hendrik Wöhrle, Bertold Bongardt, Steffen Schmidt, Jan Albiez, Frank Kirchner
In Proceedings of the International Conference on Biomedical Electronics and Devices, (BIODEVICES-11), 26.1.-29.1.2011, Rome, o.A., pages 150-162, Jan/2011. ISBN: 978-989-8425-37-9.
On Applying Neuroevolutionary Methods to Complex Robotic Tasks
Yohannes Kassahun, José de Gea Fernández, Jakob Schwendner, Frank Kirchner
In New Horizons in Evolutionary Robotics: Extended Contributions from the 2009 EvoDeRob Workshop, o.A., pages 85-108, 2011. ISBN: 978-3-642-18271-6.
The ESA Lunar Robotics Challenge: Simulating Operations at the Lunar South Pole
Felipe A. W. Belo, Andreas Birk, Christopher Brunskill, Frank Kirchner, Vaios Lappas, C. David Remy, Stefano Rocella, Claudio Rossi, Antti Tikanmäki, Gianfranco Visentin
In Journal of Field Robotics, John Wiley & Sons, volume o.A., pages ---, 2011.
Development of a Low-Pressure Fluidic Servo-valve for Wearable Haptic Interfaces and Lightweight Robotic Systems
Michele Folgheraiter, Mathias Jordan, Luis Manuel Vaca Benitez, Felix Grimminger, Steffen Schmidt, Jan Albiez, Frank Kirchner
Editors: Andrade Cetto Juan Ferrier, Jean-Louis, Filipe Joaquim
In Informatics in Control, Automation and Robotics, Springer, series Lecture Notes in Electrical Engineering, volume 89, pages 239-253, 2011. ISBN: 978-3-642-19538-9.

2010

Realistic Simulation of Extraterrestrial Legged Robot in Trade-off between Accuracy and Simulation Time
Yong-Ho Yoo, Mohammed Ahmed, Sebastian Bartsch, Frank Kirchner
In IECON Proceeding (IEEE Xplore), (IECON-10), 07.11.-10.11.2010, Phoenix, Arizona, IEEE IECON-2010 Organizing Committee, Nov/2010.
Measurement and Control of the Contact Forces between Walking Robot legs and its Environment
Mohammed Ahmed, Yong-Ho Yoo, Frank Kirchner
In Proceedings of the Joint 9th Asia-Pacific ISTVS Conference and Annual Meeting of Japanese Society for Terramechanics, (ISTVS-10), 27.9.-30.9.2010, Sapporo, o.A., Sep/2010.
Managing plans Integrating deliberation and reactive execution schemes
Sylvain Joyeux, Frank Kirchner, Simon Lacroix
In Robotics and Autonomous Systems, Elsevier, volume 58, number 9, pages 1057-1066, Sep/2010.
eSLAM - Self Localisation and Mapping Using Embodied Data
Jakob Schwendner, Frank Kirchner
In KI - Künstliche Intelligenz, German Journal on Artificial Intelligence - Organ des Fachbereiches "Künstliche Intelligenz" der Gesellschaft für Informatik e.V., Springer, volume 24 - Simultaneous Localization and Mapping, number 3, pages 241-244, Sep/2010.
Towards Operator Monitoring via Brain Reading - An EEG-based Approach for Space Applications
Elsa Andrea Kirchner, Hendrik Wöhrle, Constantin Bergatt, Su-Kyoung Kim, Jan Hendrik Metzen, David Feess, Frank Kirchner
In Proceedings of the 10th International Symposium on Artificial Intelligence, Robotics and Automation in Space, (iSAIRAS-10), 29.8.-01.9.2010, Sapparo, o.A., pages 448-455, Sep/2010.
Developing a Virtual Environment for Extraterrestrial Legged Robot with Focus on Lunar Crater Exploration
Yong-Ho Yoo, Thomas Jung, Malte Langosz, Malte Rast, Jürgen Rossmann, Frank Kirchner
In Proceeding of 10th International Symposium on Artificial Intelligent, Robotics and Automation in Space, (iSAIRAS-10), 29.8.-01.9.2010, Saporro, o.A., Aug/2010.
Reasoning About Geometry: An Approach Using Spatial-Descriptive Ontologies
Markus Eich, Frank Kirchner
In Workshop Artificial Intelligence and Logistics (AILog), (ECAI-10), 16.8.-16.8.2010, Lisbon, o.A., Aug/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.
Towards a Modular Reconfigurable Heterogenous Multi-Robot Exploration System
Florian Cordes, Daniel Bindel, Caroline Lange, Frank Kirchner
In Proceedings of the 10th International Symposium on Artificial Intelligence, Robotics and Automation in Space (i-SAIRAS2010), (iSAIRAS-2010), 29.8.-01.9.2010, Sapporo, o.A., pages 38-45, Aug/2010.
A Co-simulation Framework for Design, Test and Parameter Optimization of Robotic Systems
Mohammed Ahmed, Yong-Ho Yoo, 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.
Dynamic Collision Avoidance for an Anthropomorphic Manipulator using a 3D TOF camera
Sankaranarayanan Natarajan, Andreas Vogt, 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.
System-On-Chip Design and Communication in Embedded Wired High-Density Sensor Networks: A Contribution from Behavioural High-Level-Synthesis and Functional Printing
Stefan Bosse, Dirk Lehmhus, Frank Kirchner
In Proceeding of European Materials Research Society Sprint Meeting Conference, (EMRS-10), 07.6.-11.6.2010, Strasbourg, o.A., Jun/2010.
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.
Cooperative Docking Procedures for a Lunar Mission
Thomas M. Roehr, Florian Cordes, Ingo Ahrns, Frank Kirchner
In Proceedings for the Joint Conference of ISR 2010 (41st International Symposium on Robotics) and ROBOTIK 2010 (6th German Conference on Robotics), (ISR-2010), 07.6.-09.6.2010, Munich, VDE Verlag GmbH, pages 564-571, Jun/2010. ISBN: 978-3-8007-3273-9.
Automatic Robot Supervision within a Lunar Crater Environment
Alexander Dettmann, Stefan Haase, 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 157-164, Jun/2010. ISBN: 978-3-8007-3273-9.
Accurate Identification and Simulation of Brushless DC Drive Actuating System for High Performance Applications
Mohammed Ahmed, Luis Manuel Vaca Benitez, Frank Kirchner
In Proceedings of The 4th International Industrial Control and Automation Technology Exhibition and Conference, (Automation-2010), 10.5.-12.5.2010, Cairo, o.A., May/2010.
USBL Pose Estimation using Multiple Responders
Leif Christensen, Martin Fritsche, Jan Albiez, Frank Kirchner
In Proceedings of OCEANS 10 IEEE Sydney, (OCEANS-10), 24.5.-27.5.2010, Sydney, o.A., May/2010.
Heterogeneous Robotic Teams for Exploration of Steep Crater Environments
Florian Cordes, Frank Kirchner
In Planetary Rovers Workshop, (ICRA-10), 03.5.-08.5.2010, Anchorage, Alaska, o.A., May/2010.
Model-based direct policy search
Jan Hendrik Metzen, Frank Kirchner
In AAMAS '10: Proceedings of the 9th International Conference on Autonomous Agents and Multiagent Systems - Volume 1, (AAMAS-10), 10.5.-14.5.2010, Toronto, ON, o.A., pages 1589-1590, May/2010. ISBN: 978-0-9826571-1-9.
LUNARES: Lunar Crater Exploration with Heterogeneous Multi Robot Systems
Florian Cordes, Ingo Ahrns, Sebastian Bartsch, Timo Birnschein, Alexander Dettmann, Stéphane Estable, Stefan Haase, Jens Hilljegerdes, David Koebel, Steffen Planthaber, Thomas M. Roehr, Marc Scheper, Frank Kirchner
Editors: Junku Yuh
In Journal of Intelligent Service Robotics, Springer Berlin / Heidelberg, volume Special Issue on Space Robotics, pages 61-89, 2010.

2009

Modelling and Simulation of Mobile Six-Legged Robot with Leg-Soil Contact
Yong-Ho Yoo, Larbi Abdenebaoui, Michael Rohn, Malte Langosz, Frank Kirchner
In ISTVS 2009 Proceeding, (ISTVS-09), 05.10.-08.10.2009, Bremen, The International Society for Terrain-Vehicle Systems, Oct/2009.
Automatisierte Sicherheits- und Inventurkontrolle auf Automobilterminals
Bernd Scholz-Reiter, Mehmet-Emin Özsahin, Florian Harjes, Frank Kirchner, Jan Albiez, Marc Ronthaler, Wolf Lampe
In Industrie Management - Zeitschrift für industrielle Geschäftsprozesse, o.A., volume 5 - 2009, pages 31-34, Oct/2009.
CESAR: A lunar crater exploration and sample return robot
Jakob Schwendner, Felix Grimminger, Sebastian Bartsch, Thilo Kaupisch, Mehmed Yüksel, Andreas Bresser, Joel Bessekon, Alexander Dieterle, Steffen Schmidt, Michael Seydel, Frank Kirchner
In Intelligent Robots and Systems, (IROS-09), 10.10.-15.10.2009, St. Louis, MO, o.A., pages 3355-3360, Oct/2009. ISBN: 978-1-4244-3803-7.
On Applying Neuroevolutionary Methods to Complex Robotic Tasks
Yohannes Kassahun, José de Gea Fernández, Malte Langosz, Frank Kirchner
Editors: Nikos Papanikolopoulo, Shigeki Sugano, Stefano Chiaverini, Max Meng
In IEEE IROS Workshops on Exploring new horizons in Evolutionary Design of robots, (IROS-09), 11.10.-15.10.2009, St. Louis, Missouri, o.A., pages 26-30, Oct/2009.
Dynamic Motion Modelling for Legged Robots
Mark Edgington, Yohannes Kassahun, Frank Kirchner
Editors: Nikos Papanikolopoulo, Shigeki Sugano, Stefano Chiaverini, Max Meng
In In Proceedings of the IEEE International Conference on Intelligent Robots and Systems, (IROS-09), 11.10.-15.10.2009, St. Louis, Missouri, o.A., pages 4688-4694, Oct/2009.
Using Joint Probability Densities for Simultaneous Learning of Forward and Inverse Models
Mark Edgington, Yohannes Kassahun, Frank Kirchner
Editors: Nils T. Siebel, Josef Pauli
In IEEE IROS International Workshop on Evolutionary and Reinforcement Learning for Autonomous Robot Systems, (IROS-09), 11.10.-15.10.2009, St. Louis, Missouri, o.A., pages 19-22, Oct/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.
Design and Control of an Intelligent Dual-Arm Manipulator for Fault-Recovery in a Production Scenario
José de Gea Fernández, Johannes Lemburg, Thomas M. Roehr, Malte Wirkus, Iliya Gurov, Frank Kirchner
In ETFA'09 Proceedings of the 14th IEEE international conference on Emerging technologies & factory automation, (ETFA-09), 22.9.-26.9.2009, Mallorca, IEEE Press, pages 1583-1587, Sep/2009. ISBN: 978-1-4244-2727-7.
Quantification and Minimization of the Simulation-Reality-Gap on a BRIO Labyrinth Game
Constantin Bergatt, Jan Hendrik Metzen, Elsa Andrea Kirchner, Frank Kirchner
In Proceedings of the first International Workshop on Learning and Data Mining for Robotics, (LEMIR-09), 07.9.-11.9.2009, Bled, o.A., Sep/2009.
Assisting Telemanipulation Operators via Real-Time Brain Reading
Elsa Andrea Kirchner, Jan Hendrik Metzen, Timo Duchrow, Su-Kyoung Kim, Frank Kirchner
Editors: Volker Lohweg, Oliver Niggemann
In KI 2009 Workshop, (KI-2009), 15.9.2009, Paderborn, o.A., series Lemgoer Schriftenreihe zur industriellen Informationstechnik, Sep/2009. ISBN: 1869-2087.
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.
Bio-inspired control of an arm exoskeleton joint with active-compliant actuation system
Michele Folgheraiter, José de Gea Fernández, Bertold Bongardt, Jan Albiez, Frank Kirchner
In Applied Bionics and Biomechanics, Taylor & Francis, volume 6, number 2, pages 193-204, Jun/2009.
Hardware ROV simulation facility for the evaluation of novel underwater manipulation techniques
Leif Christensen, Peter Kampmann, Marc Hildebrandt, Jan Albiez, Frank Kirchner
In OCEANS 2009 - EUROPE, 2009. OCEANS 2009, (OCEANS-09), 11.5.-14.5.2009, Bremen, o.A., May/2009. ISBN: 978-1-4244-2523-5.
Realtime motion compensation for ROV-based teleoperated underwater manipulators
Marc Hildebrandt, Leif Christensen, Jochen Kerdels, Jan Albiez, Frank Kirchner
In OCEANS 2009 - EUROPE, 2009 OCEANS 09, (OCEANS-09), 11.5.-14.5.2009, Bremen, o.A., May/2009. ISBN: 978-1-4244-2523-5.
Cooperating Reconfigurable Robots for Autonomous Planetary Sample Return Missions
Florian Cordes, Steffen Planthaber, Ingo Ahrns, Timo Birnschein, Sebastian Bartsch, Frank Kirchner
In ASME/IFToMM International Conference on Reconfigurable Mechanisms and Robots, (ReMAR-2009), 22.6.-24.6.2009, London, o.A., pages 665-673, May/2009. ISBN: 978-88-89007-37-2.
Intelligente Maschinen, Personen und Systeme
Frank Kirchner
In Revue für postheroisches Management, MZ Management Zentrum Witten GmbH, volume Heft 4, pages 76-81, Mar/2009.
Control of Robot Interaction Forces Using Evolutionary Techniques
José de Gea Fernández, Yohannes Kassahun, Frank Kirchner
In Factory Automation, In-Tech, chapter 22, pages 445-462, Mar/2009. ISBN: 978-953-7619-42-8.
Incremental acquisition of neural structures through evolution
Yohannes Kassahun, Jan Hendrik Metzen, Mark Edgington, Frank Kirchner
Editors: Kay Chen Tan, Dikai Liu, Lingfeng Wang
In Design and Control of Intelligent Robotic Systems, Springer Verlag, 1, series Studies in Computational Intelligence, volume 177, chapter o.A., pages 187-208, Feb/2009. ISBN: 3540899324.
Design of an Arm Exoskeleton using an hybrid Motion-Capture and Model-Based Technique
Michele Folgheraiter, Bertold Bongardt, Steffen Schmidt, José de Gea Fernández, Jan Albiez, Frank Kirchner
In IEEE International Conference on Robotics and Automation, (ICRA-2009), 12.5.-17.5.2009, Kobe, o.A., 2009.
A Bio-Inspired Haptic Interface for Tele-Robotics Applications
Michele Folgheraiter, Bertold Bongardt, Jan Albiez, Frank Kirchner
In Proceedings of IEEE International Conference on Robotics and Biomemetics, (IEEE-ROBIO-2008), 21.2.-26.2.2009, Bangkok, -, pages 560-565, 2009.
Design of a Bio-Inspired Wearable Exoskeleton for Applications in Robotics
Michele Folgheraiter, Bertold Bongardt, Jan Albiez, Frank Kirchner
In International Joint Conference on Biomedical Engineering Systems and Technologies, (BIOSTEC-2009), 14.1.-17.1.2009, Porto, -, 2009.
Adaptive Compliance Control of a Multi-legged Stair-Climbing Robot Based on Proprioceptive Data
Markus Eich, Felix Grimminger, Frank Kirchner
In Industrial Robot: An International Journal, Emerald Group Publishing Limited, volume 36 Issue 4, pages 331-339, 2009.
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.
A Simulation-Based Design of Extraterrestrial Six-Legged Robot System
Yong-Ho Yoo, Mohammed Ahmed, Malte Langosz, Frank Kirchner
In Proceedings of the 35th Annual Conference of the IEEE Industrial Electronics Society, (IECON-09), 03.11.-05.11.2009, Porto, o.A., 2009.
A Practical Interaction Between Robots and RFID-based Digital Product Memories in a Logistic Scenario
Andreas Vogt, Markus Eich, Renato Samperio Melgoza, Frank Kirchner
In Proceedings of the 2009 IEEE International Confernce on Technologies for Practical Robot Applications 2009, (TePRA-09), 09.11.-10.11.2009, Woburn, MA, o.A., 2009.
Learning Complex Robot Control Using Evolutionary Behavior Based Systems
Yohannes Kassahun, Jakob Schwendner, José de Gea Fernández, Mark Edgington, Frank Kirchner
In GECCO '09: Proceedings of the 11th Annual conference on Genetic and evolutionary computation, (GECCO-2009), 08.7.-12.7.2009, Montréal, o.A., pages 129-136, 2009. ISBN: 978-1-60558-325-9.
Development of an Intelligent Joint Actuator Prototype for Climbing and Walking Robots
Jens Hilljegerdes, Peter Kampmann, Stefan Bosse, Frank Kirchner
In Mobile Robotics - Solutions and Challenges, (CLAWAR-09), 09.9.-11.9.2009, Istanbul, o.A., pages 942-949, 2009. ISBN: 978-981-4291-26-2.
On Evolving a Robust Force-Tracking Neural Network-Based Impedance Controller
José de Gea Fernández, Yohannes Kassahun, Frank Kirchner
In Proceedings of the 40th International Symposium on Robotics, (ISR-09), 10.3.-13.3.2009, Barcelona, o.A., 2009.
Learning to Play the BRIO Labyrinth Game
Jan Hendrik Metzen, Elsa Andrea Kirchner, Larbi Abdenebaoui, Frank Kirchner
In KI - Künstliche Intelligenz, German Journal on Artificial Intelligence - Organ des Fachbereiches "Künstliche Intelligenz" der Gesellschaft für Informatik e.V., Böttcher IT Verlag, volume 3/09 - Themenheft ''Reinforcement Learning'', pages 34-37, 2009.
The BRIO Labyrinth Game - A Testbed for Reinforcement Learning and for Studies on Sensorimotor Learning
Jan Hendrik Metzen, Elsa Andrea Kirchner, Larbi Abdenebaoui, Frank Kirchner
In Proceedings of the Multidisciplinary Symposium on Reinforcement Learning, (MSRL-09), 18.6.-19.6.2009, Montreal, o.A., 2009.

2008

Proprioceptive Control of a Hybrid Legged-Wheeled Robot
Markus Eich, Felix Grimminger, Frank Kirchner
In Proceedings of the 2008 IEEE International Conference on Robotics and Biomimetics, (IEEE-ROBIO-2008), 14.12.-17.12.2008, Bangkok, -, pages 774-779, Dec/2008.
A Versatile Stair-Climbing Robot for Search and Rescue Applications
Markus Eich, Felix Grimminger, Frank Kirchner
In 2008 IEEE International Workshop on Safety, Security and Rescue Robotics, (SSRR-2008), 21.10.-24.10.2008, Sendai, IEEE, pages 35-40, Oct/2008. ISBN: 978-1-4244-2032-2/08.
Sensor Processing and Behaviour Control of a Small AUV
Jan Albiez, Jochen Kerdels, Sascha Fechner, Frank Kirchner
In Autonome Mobile Systeme AMS 2007- 20. Fachgespräch Kaiserslautern, (AMS), Kaiserslautern, Springer, pages 327-333, Kaiserslautern, Germany, Oct/2008. Robotics Research Lab of the University of Kaiserslautern.
Analysis of an Evolutionary Reinforcement Learning Method in a Multiagent Domain
Jan Hendrik Metzen, Mark Edgington, Yohannes Kassahun, Frank Kirchner
In Proceedings of the Seventh International Conference on Autonomous Agents and Multi-Agent Systems (AAMAS '08), (AAMAS-08), 12.5.-16.5.2008, Estoril, o.A., pages 291-298, May/2008.
Computer-Based Control of Deep-Sea Manipulators
Marc Hildebrandt, Jan Albiez, Frank Kirchner
In Voayage Towards the Future. Proceedings of OCEANS '08 (MTS) / IEEE KOBE-TECHNO-OCEAN '08 Conference and Exhibition, (OCEANS-2008), 8.4.-11.4.2008, Kobe, IEEE, pages 1-6, Apr/2008.
ASGUARD: A Hybrid Legged Wheel Security and SAR-Robot Using Bio-Inspired Locomotion for Rough Terrain
Markus Eich, Felix Grimminger, Stefan Bosse, Dirk Spenneberg, Frank Kirchner
In IARP/EURON Workshop on Robotics for Risky Interventions and Enviromental Surveillance (IARP/EURON-08), January 7-8, Benicassim, Spain, (IARP/EURON), Benicàssim, Online-Proceedings, Jan/2008.
A Free-Climbing Robot for Steep Crater Terrain
Dirk Spenneberg, Frank Kirchner
In Robotics and Automation in Space, (iSAIRAS), 25.2.-29.2.2008, Los Angeles, CA, ESA, 2008.
Modelling and Simulation of Robot Arm Interaction Forces Using Impedance Control
José de Gea Fernández, Frank Kirchner
In Proceedings of the 17th IFAC World Congress, (IFAC-2008), 6.7.-11.7.2008, Seoul, -, pages 15589-15594, 2008.
Contact Impedance Adaptation via Environment Identification
José de Gea Fernández, Frank Kirchner
In Proceedings of the IEEE International Symposium on Industrial Electronics, (ISIE-08), 30.6.-2.7.2008, Cambridge, IEEE, pages 1365-1370, 2008.
Using Neuroevolution for Optimal Impedance Control
José de Gea Fernández, Frank Kirchner
In 13th IEEE International Conference on Emerging Technologies and Factory Automation, (ETFA-2008), 15.9.-18.9.2008, Hamburg, IEEE, pages 1063-1066, 2008.
Biologically Inspired Locomotion in Humanoid Robots
Sebastian Bartsch, Frank Kirchner
Editors: Andreas Günter, Klaus-Dieter Althoff, Ralph Bergmann, Franziska Klügl, Sven Behnke, Bernd Ludwig, Ute Schmid, Josef Schneeberger, Ubbo Visser
In KI - Künstliche Intelligenz, German Journal on Artificial Intelligence - Organ des Fachbereiches "Künstliche Intelligenz" der Gesellschaft für Informatik e.V., Böttcher IT Verlag, volume 4/08, number 4, pages 22-25, 2008.
EANT+KALMAN: An Efficient Reinforcement Learning Method for Continuous State Partially Observable Domains
Yohannes Kassahun, José de Gea Fernández, Jan Hendrik Metzen, Mark Edgington, Frank Kirchner
Editors: Andreas Dengel, K. Berns, Thomas Breuel, Thomas Roth-Berghofer
In KI 2008: Advances in Artificial Intelligence, (KI-08), 23.9.-26.9.2008, Kaiserslautern, Springer, series Lecture Notes in Artificial Intelligence, volume 5243, pages 241-248, 2008.
A Robust Vision Based Hover Control for ROV
Jochen Kerdels, Jan Albiez, Frank Kirchner
In Proceedings of OCEANS '08 (MTS) / IEEE KOBE-TECHNO-OCEAN '08, (OCEANS-2008), 8.4.-11.4.2008, Kobe, IEEE, 2008.
Sensorless Computer Control of an Underwater DC Manipulator
Jochen Kerdels, Jan Albiez, Frank Kirchner
In Proceedings of OCEANS '08 (MTS) / IEEE KOBE-TECHNO-OCEAN '08, (OCEANS-2008), 8.4.-11.4.2008, Kobe, IEEE, 2008.
Accelerating Neuroevolutionary Methods Using a Kalman Filter
Yohannes Kassahun, José de Gea Fernández, Mark Edgington, Jan Hendrik Metzen, Frank Kirchner
Editors: M. Keijzer
In Proceedings of the 10th Genetic and Evolutionary Computation Conference, (GECCO-2008), 12.7.-16.7.2008, Atlanta, Georgia, ACM, pages 1397-1404, 2008.
Towards Efficient Online Reinforcement Learning Using Neuroevolution
Jan Hendrik Metzen, Mark Edgington, Yohannes Kassahun, Frank Kirchner
In Proceedings of the 10th Genetic and Evolutionary Computation Conference, (GECCO-2008), 12.7.-16.7.2008, Atlanta, GA, o.A., pages 1425-1426, 2008.
Using the Body in Learning to Recognize Objects
Mark Edgington, José de Gea Fernández, Jan Hendrik Metzen, Yohannes Kassahun, Frank Kirchner
Editors: W. Burgard, R. Dillmann, Plagemann; C., N. Vahrenkamp
In Proceedings of the 10th Conference on Intelligent Autonomous Systems, (IAS-10), 23.7.-25.7.2008, Baden-Baden, IOS Press, pages 110-118, 2008.
Evolving Neural Networks for Online Reinforcement Learning
Jan Hendrik Metzen, Mark Edgington, Yohannes Kassahun, Frank Kirchner
Editors: G. Rudolph, T. Jansen, S.M. Lucas, et al.
In Proceedings of the 10th International Conference on Parallel Problem Solving From Nature, (PPSN-2008), 13.9.-17.9.2008, Dortmund, Springer, series Lecture Notes in Computer Science, volume 5199, pages 518-527, 2008.
A practical underwater 3D-Laserscanner
Marc Hildebrandt, Jochen Kerdels, Jan Albiez, Frank Kirchner
In Proceedings of the MTS/IEEE Conference on Oceans, Poles and Climate, (OCEANS-08), 15.9.-18.9.2008, Quebec, QC, IEEE, 2008. MTS/ IEEE Oceans.
Learning Walking Patterns for Kinematically Complex Robots Using Evolution Strategies
Malte Langosz, Mark Edgington, Jan Hendrik Metzen, José de Gea Fernández, Yohannes Kassahun, Frank Kirchner
Editors: G. Rudolph, T. Jansen, S.M. Lucas, et al.
In 10th International Conference on Parallel Problem Solving from Nature, (PPSN-2008), 13.9.-17.9.2008, Dortmund, Springer, series Lecture Notes in Computer Science, volume 5199, pages 1091-1100, 2008.
Robust Vision-Based Semi-Autonomous Underwater Manipulation
Marc Hildebrandt, Jochen Kerdels, Jan Albiez, Frank Kirchner
Editors: Burgard, Wolfram, Dillmann, Rüdiger, Plagemann, Christian, Vahrenkamp, Nikolaus
In The 10th International Conference on Intelligent Autonomous Systems, (IAS-2008), 23.7.-25.7.2008, Baden-Baden, IOS Press, pages 308-315, 2008. ISBN: 978-1-58603.

2007

Performance Evaluation of EANT in the Robo Cup Keepaway Benchmark
Jan Hendrik Metzen, Mark Edgington, Yohannes Kassahun, Frank Kirchner
In Proceedings of the 6th International Conference on Machine Learning and Applications (ICMLA-2007), (ICMLA-2007), 13.12.-15.12.2007, Cincinnati, OH, IEEE, pages 342-347, Dec/2007.
The Bio-Inspired SCORPION Robot: Design, Control & Lessons Learned
Dirk Spenneberg, Frank Kirchner
Editors: Houxiang Zhang
I-Tech Education and Publishing, volume Climbing & Walking Robots, Towards New Applications, pages 197-218, Oct/2007.
Design of a µAUV
Sascha Fechner, Jochen Kerdels, Jan Albiez, Frank Kirchner
Editors: Rückert, U., Sitte, J., Witkowski, U.
In Autonomous Minirobots for Research and Edutainment (AMiRE-2007). Proceedings of the 4th International AMiRE Symposium (AMiRE-2007), October 2-5, Buenos Aires, Argentinien, (AMiRE), 02.10.-05.10.2007, Buenos Aires, Heinz Nixdorf Institut Universiät Paderborn, pages 99-106, Buenos Aires, Argentinien, Oct/2007.
Surveillance of Security-Critical Compounds and Buildings Using a Team of Autonomous Robots
Frank Kirchner, Markus Eich, Dirk Spenneberg
Editors: Beyerer, Jürgen
In Future Security. 2nd Security Research Conference (FuSec-2007), September 12-14, Karlsruhe, Germany, (FuSec), Karlsruhe, Universitätsverlag Karlsruhe, pages 143-147, Karlsruhe, Germany, Sep/2007. ISBN: 978-3-86644-147-7.
A General Framework for Encoding and Evolving Neural Networks
Yohannes Kassahun, Jan Hendrik Metzen, José de Gea Fernández, Mark Edgington, Frank Kirchner
Editors: Joachim Hertzberg, M. Beetz, R. Englert
In KI 2007: Advances in Artificial Intelligence. 30th Annual German Conference on Artificial Intelligence (KI-2007), (KI), 10.9.-13.9.2007, Osnabrück, Springer, series Lecture Notes in Computer Science, volume 4667, pages 205-219, Osnabrück, Germany, Sep/2007. ISBN: 978-3-540-74564-8.
Experiments on Embodied Cognition: A Bio-Inspired Approach for Robust Biped Locomotion.
Frank Kirchner, Sebastian Bartsch, José de Gea Fernández
Editors: A. C. de Pina Filho
In Humanoid Robots, Advanced Robotic Systems International and I-Tech, chapter 27, pages 487-504, Jun/2007.
Reconfigurable Robot Teams for Lunar Exploration
Frank Kirchner, W. P. Foth, R. Janovsky
In ICRA '07 Space Robotics Workshop, 14.4.-14.4.2007, Rome, o.A., Apr/2007.
Exploiting Sensorimotor Coordination for Learning to Recognize Objects
Yohannes Kassahun, Mark Edgington, José de Gea Fernández, Frank Kirchner
In Twentieth International Joint Conference On Artificial Intelligence, (IJCAI-07), 06.1.-12.1.2007, Hyderabat, o.A., pages 883-888, Jan/2007.
A Connectionist Architecture for Learning to Play a Simulated Brio Labyrinth Game
Larbi Abdenebaoui, Elsa Andrea Kirchner, Yohannes Kassahun, Frank Kirchner
Editors: J. Hertzberg, M. Beetz, R. Englert
In Proceedings of the 30th Annual German Conference on Artificial Intelligence (KI07), (KI), 10.9.-13.9.2007, Osnabrück, Springer, series Lecture Notes in Computer Science, volume 4667/2007, pages 427-430, Osnabrück, Germany, 2007. ISBN: 978-3-540-74564-8.
Künstliche Intelligenz in der Meerestechnik
Frank Kirchner, Jan Albiez
In Schiff & Hafen - International Publication for Shipping & Marine Technology, o.A., volume o.A., number 3, pages 88, 2007.
AI based Space Robotics - Reconfigurable Robot Teams for Exploration
Frank Kirchner, W. P. Foth, R. Janovsky
In To Moon and Beyond, Bremen, o.A., Bremen, 2007. DGLR International Symposium.
C-Manipulator: An Autonomous Dual Manipulator Project for Underwater Inspection and Maintenance
Dirk Spenneberg, Jan Albiez, Frank Kirchner, Jochen Kerdels, Sascha Fechner
In Proceedings of OMAE 2007, (OMAE), San Diego, o.A., San Diego, USA, 2007. ASME 2007 International Conference on Offshore Mechanics and Arctic Engineering.
Climbing & Walking Robots, Towards New Applications
Frank Kirchner, Dirk Spenneberg
InTech, Zhang, H., 2007. ISBN: 978-3-902613-16-5.
A Common Genetic Encoding for Both Direct and Indirect Encodings of Networks
Yohannes Kassahun, Mark Edgington, Jan Hendrik Metzen, G. Sommer, Frank Kirchner
In Genetic and Evolutionary Computation Conference (GECCO--2007), (GECCO), o.A., pages 1029-1036, 2007.
Bio-Inspired Robotic Handling of Heterogeneous Logistics Goods
José de Gea Fernández, Jan Albiez, Frank Kirchner
In Proceedings of the IEEE International Conference on Automation and Logistics (ICAL 2007), (ICAL), 18.8.-21.8.2007, Jinan, ., pages 192-197, Jinan, China, 2007.

2006

Bio-Inspired Locomotion for Underwater Exploration and Investigation
Frank Kirchner, Sascha Fechner, Dirk Spenneberg
In Proc. of OMAE 2006 Conference, (OMAE), Hamburg, o.A., Hamburg, 2006.
Reactive Leg Control for Four-Legged Walking Based on CPG and Reflex Models
Dirk Spenneberg, A. Strack, H. Zschenker, Frank Kirchner
In Proceedings of the 9th International Conference on Climbing and Walking Robots (CLAWAR 2006), (CLAWAR), o.A., 2006.
Control of a Bio-Inspired Four-Legged Robot for Exploration of Uneven Terrain
Dirk Spenneberg, A. Strack, H. Zschenker, Frank Kirchner, Jens Hilljegerdes, Stefan Bosse
In Proceedings of ASTRA 2006 Workshop, ESA-ESTEC, (ASTRA-06), Noordwijk, ., Noordwijk, NL, 2006.
Towards a Multimodal Sensorimotor Coordination-Based Object Recognition System
Yohannes Kassahun, Mark Edgington, José de Gea Fernández, Frank Kirchner
In IEEE International Conference on Robotics and Biomimetics (ROBIO 2006), (IEEE-ROBIO), o.A., 2006.
Robust Control of a Humanoid Robot Using Bio-Inspired Approach Based on Central Pattern Generators, Reflexes and Proprioceptive Feedback
Sebastian Bartsch, Frank Kirchner
In IEEE International Conference on Robotics and Biomimetics (ROBIO 2006), (IEEE-ROBIO), Kunming, o.A., pages 1547, Kunming, China, 2006.
Robust Control of a Humanoid Robot Using a Bio-Inspired Approach Based on Central Pattern Generators, Reflexes, and Proprioceptive Feedback
Sebastian Bartsch, Frank Kirchner
In French-German Workshop on Humanoid and Legged Robots, (HLR), o.A., 2006.
Using Kinematically Complex Robots for Case Studies in Embodied Cognition
Yohannes Kassahun, Mark Edgington, José de Gea Fernández, Elsa Andrea Kirchner, Dirk Spenneberg, Frank Kirchner
In Proceedings of the 9th International Conference on Climbing and Walking Robots (CLAWAR 2006), (CLAWAR), Brussels, o.A., pages 258, 2006.

2005

Cooperative Heterogeneous Robots for Exploration of Planetary Surfaces
Dirk Spenneberg, Frank Kirchner
In Proceedings of 1st Annual ESA Workshop of Spacecraft Data Systems on Software, Noodwijk, o.A., Noodwijk, NL, Oct/2005. European Space Agency.
Learning Spatial Categories on the Basis of Proprioceptive Data
Dirk Spenneberg, Frank Kirchner
In Proceedings of the 3rd International Symposium on Adaptive Motion in Animals and Machines, o.A., Sep/2005.
The Construction of the Four-Legged Prototype Robot ARAMIES
Jens Hilljegerdes, Dirk Spenneberg, Frank Kirchner
In Proceedings of CLAWAR 2005, (CLAWAR), London, o.A., London, UK, Sep/2005.
AIMEE: A Four-Legged Robot for RoboCup Rescue
M. Albrecht, Till Backhaus, Steffen Planthaber, H. Stoeppler, Dirk Spenneberg, Frank Kirchner
In Proceedings of CLAWAR 2005, (CLAWAR), Springer, 2005.
ARAMIES: A Four-Legged Climbing and Walking Robot
Dirk Spenneberg, M. Albrecht, Till Backhaus, Jens Hilljegerdes, Frank Kirchner, A. Strack, H. Zschenker
In Proceedings of 8th International Symposium iSAIRAS, (iSAIRAS), Munich, o.A., Munich, 2005.

2004

Ambulating Robots for Exploration in Rough Terrain on Future Extraterestrial Missions
Dirk Spenneberg, Frank Kirchner, José de Gea Fernández
In Proceedings of the 8th ESA Workshop on Advanced Space Technologies for Robotics and Automation (ASTRA 2004), (ASTRA), European Space Agency, Nov/2004.
A Biologically Inspired Approach Towards Autonomous Real World Robots
Frank Kirchner, Dirk Spenneberg
Editors: Y. S. T.; Kresh Deisboeck
In Complex Systems Science in BioMedicine, Kluwer Academic - Plenum Publishers, 2004.
Stability of Walking in a Multilegged Robot Suffering Leg Loss
Dirk Spenneberg, K. McCullough, Frank Kirchner
In 2004 IEEE International Conference on Robotics and Automation, (ICRA-04), 26.4.-01.5.2004, New Orleans, LA, IEEE, volume 3, pages 2159, 2004.

2003

Cognitive Humanoid Robots Based on Complex Kinematic Features
Frank Kirchner, T. Koshizen, Dirk Spenneberg
Editors: V. Palade, R.J. Howlett, L.C. Jain
In KES 2003 LNAI 2774, Springer-Verlag, series 0, pages 584, 2003.


Back to the staff overview
© DFKI GmbH
last updated 12.01.2024