@INPROCEEDINGS{fast2012,
author = {Philipp M. Scholl and Stefan Kohlbrecher and Vinay Sachidananda and Kristof van Laerhoven},
title = {Fast Indoor Radio-Map Building for RSSI-based Localization Systems},
year = {2012},
booktitle = {Demo Paper, International Conference on Networked Sensing Systems},
abstract = {Wireless Indoor localization systems based on RSSI-values typically consist of an offline training phase and online position determination phase. During the offline phase, georeferenced RSSI measurement, called fingerprints, are recorded to build a radiomap of the building. This radiomap is then searched during the position determination phase to estimate another nodes location. Usually the radiomap is build manually, either by users pin-pointing their location on a ready-made floorplan or by moving in pre-specified patterns while scanning the network for RSSI values. This cumbersome process leads to inaccuracies in the radiomap. Here, we propose a system to build the indoor- and radio map simultaneously by using a handheld mapping system employing a laser scanner in an IEEE802.15.4-compatible network. This makes indoor- and radio-mapping for wireless localization less cumbersome, faster and more reliable.},
}
@INPROCEEDINGS{2012:Robotik_Lens_etal,
author = {T. Lens and A. Karguth and O. von Stryk},
title = {Safety Properties and Collision Behavior of Robotic Arms with Elastic Tendon Actuation},
year = {2012},
booktitle = {Proceedings of ROBOTIK},
abstract = {Applications with physical human-robot interaction require a high level of safety even in case of software or hardware failures. This paper highlights the advantages of combining tendon actuation with transmission elasticity to maximize safety for robotic arms sharing workspaces with humans. To this end, the collision behavior of combinations of tendon or joint and elastic or stiff actuation with geared electrical motors as reliable actuators is compared using the lightweight BioRob arm as robotic platform in simulation. For the comparison a worst case scenario is assumed in which the robot arm is accelerated with maximum supply voltage over its joint range and collides with maximum end-effector velocity. The study shows that the robot arm achieves end-effector velocities as high as 6m/s and that elastic tendon actuation reduces the end-effector impact energy and force by up to 90% compared to stiff joint actuation. A considerable reduction of the gearbox stress is also achieved. In addition, the effect of motor current fuses limiting the motor torques is evaluated. It is shown that for the given high speed scenario, torque limiting devices can be effective to prevent excessive clamping forces in case of failure, but can not reduce the impact peak force without heavily compromising the robot dynamics. The main design criterion for safety should therefore be lightweight link design and compliant actuation, which can be achieved by using elastic tendon actuation. The paper concludes with the comparison of safety properties of robotic arms in research and industry.},
}
@INPROCEEDINGS{2012:IEEE-BioRob_VTS,
author = {J. Schuy and P. Beckerle and J. Wojtusch and S. Rinderknecht and O. von Stryk},
title = {Conception and evaluation of a novel variable torsion stiffness for biomechanical applications},
year = {2012},
pages = {to appear},
booktitle = {4th IEEE RAS/EMBS Intl. Conf. on Biomedical Robotics and Biomechatronics (BioRob)},
abstract = {Abstract—This paper proposes a novel variable torsion stiffness (VTS) aiming on biomechanical applications like prosthetic knee joints. By varying the effective length of a torsional elastic element via a relocatable counter bearing, the stiffness of a rotational joint is adjusted. This functional concept is described in detail by the authors as well as the design of such VTS joints. Additionally, analytical models for the transfer behaviour of drivetrain and stiffness control are derived. These are used for a simulative evaluation of a pendulum driven by a VTS unit. Based on the results of this simulation, the power requirements of VTS are analysed. Furthermore, an analysis of its structural strength is presented. For practical comprehensibility, the example of the design of a prosthetic knee joint is taken up for several times in this paper. Finally, the concept, modeling and design of VTS as well as the simulation results are concluded and discussed in a final assessment and in comparison to other contemporary concepts.},
}
@TECHREPORT{2012:rescue_tdp,
author = {Thorsten Graber and Stefan Kohlbrecher and Johannes Meyer and Karen Petersen and Oskar von Stryk and Uwe Klingauf},
title = {RoboCupRescue 2012 - Robot League Team Hector Darmstadt (Germany)},
year = {2012},
institution = {Technische Universität Darmstadt},
pdf = {2012_tdp_hector.pdf},
abstract = {This paper describes the approach used by Team Hector Darmstadt for participation in the 2012 RoboCup Rescue League competition. Participating in the RoboCup Rescue competition since 2009, the members of Team Hector Darmstadt focus on exploration of disaster sites using autonomous Unmanned Ground Vehicles (UGVs). The team has been established as part of a PhD program funded by the German Research Foundation at TU Darmstadt and combines expertise from Computer Science and Mechanical Engineering. We give an overview of the complete system used to solve the problem of reliably finding victims in harsh USAR environments. This includes hardware as well as software solutions and diverse topics like locomotion, SLAM, pose estimation, human robot interaction and victim detection. As a contribution to the RoboCup Rescue community, major parts of the used software have been released and documented as open source software for ROS.},
}
@TECHREPORT{2012:dd_tdp,
author = {J. Kuhn and S. Kohlbrecher and K. Petersen and D. Scholz and J. Wojtusch and O. von Stryk},
title = {Team Description for Humanoid KidSize League of RoboCup 2012 },
year = {2012},
institution = {Technische Universität Darmstadt},
pdf = {2012_tdp_hum.pdf},
abstract = {This paper describes the hardware and software design and developments of the kidsize humanoid robot systems of the Darmstadt Dribblers in 2012. The robots are used as a vehicle for research in humanoid robotics and teams of cooperating, autonomous robots. The Humanoid League of RoboCup provides an ideal testbed for investigation of topics like stability, control and versatility of humanoid locomotion, behavior control of autonomous humanoid robots and robot teams with many degrees of freedom and many actuated joints, perception and world modeling based on very limited human-like, external sensing abilities as well as benchmarking of autonomous robot performance. The methodologies developed by the Darmstadt Dribblers to address reflex and cognitive control layers, image processing, perception, world modeling, behavior and motion control, robot simulation, monitoring, debugging and bio-inspired humanoid robot bodyware are briefly discussed. },
}
@ARTICLE{petersen_intsys2011,
author = {Karen Petersen and Oskar von Stryk},
title = {An Event-based Communication Concept for Human Supervision of Autonomous Robot Teams},
journal = {International Journal on Advances in Intelligent Systems},
year = {2011},
volume = {4},
number = {3 & 4},
pages = {357 - 369},
url = {http://www.thinkmind.org/index.php?view=article&articleid=intsys_v4_n34_2011_24},
pdf = {2011_petersen_intsys.pdf},
}
@INCOLLECTION{2011:Abele_etal_TUForschen,
author = {E. Abele and J. Bauer and M. Friedmann and M. Pischan and C. Reinl and O. von Stryk},
title = {Einsatz von Robotern in der spanenden Fertigung},
year = {2011},
volume = {1/2011},
pages = {44 - 49},
publisher = {TU Darmstadt},
booktitle = {Wissenschaftsmagazin forschen},
pdf = {AbeleBauerFriedmannPischanReinlStryk_TUFoschen_2011.pdf},
abstract = {For milling of complex work pieces with required accuracies of less than 0.1 mm five-axis machine tools are used in industrial practice. Industrial robots are by far more cost-efficient but they are achieving less machining accuracy due to their elastic resilience. Deviations can be simulated and corrected with a mathematical model, that reproduces static and dynamic interactions of robot and milling process. The challenge: High accuracy can only be achieved, if model parameters are known precisely at any time.},
}
@INCOLLECTION{2011:TUD-Forschung,
author = {T. Hemker and H. De Gersem and S. Koch and O. von Stryk},
title = {Bessere Synchrotron-Magnete durch simulationsbasierte Optimierung},
year = {2011},
number = {2/2011},
pages = {58-62},
publisher = {TU Darmstadt},
editor = {M. Schaefer},
series = {forschung},
booktitle = {Computational Engineering},
url = {http://www.tu-darmstadt.de/vorbeischauen/publikationen/forschung/index_3136.de.jsp},
pdf = {2011-Forschen_02_2011_S58-62.pdf},
abstract = {Während die numerische Optimierung von kontinuierlichen Parametern supraleitender Magnete basierend auf elektromagnetischen Feldsimulationen trotz hoher Rechenzeitanforderungen schon fast alltäglich ist, stellt die für ein optimales Design notwendige, simultane Berücksichtigung auch diskreter Parameter und der damit verbundene, hohe zusätzliche Rechenaufwand enorme Schwierigkeiten dar. Eine neue, methodische Vorgehensweise zu deren Überwindung wird vorgestellt und zur Entwicklung von besonders leistungsfähigen, supraleitenden Magneten für das neue internationale Beschleunigerzentrum FAIR erfolgreich angewendet.},
}
@ARTICLE{griffin2011,
author = {J. D. Griffin and K. R. Fowler and G. A. Gray and T. Hemker and M. D. Parno},
title = {Derivative-Free Optimization Via Evolutionary Algorithms Guiding Local Search},
journal = {Pacific Journal of Optimization},
year = {2011},
volume = {7},
number = {3},
pages = {425-443},
month = {September},
url = {http://www.ybook.co.jp/online2/oppjo/vol7/p425.html},
pdf = {2010-griffin_etal.pdf},
abstract = {In this paper, we describe the technical details of HOPSPACK (Hybrid Optimization Parallel Search Package), a new software platform which facilitates combining multiple optimization routines into a single, tightly-coupled, hybrid algorithm that supports parallel function evaluations. The framework is designed such that existing optimization source code can be easily incorporated with minimal code modification. By maintaining the integrity of each individual solver, the strengths and code sophistication of the original optimization package are retained and exploited.},
}
@INPROCEEDINGS{KohlbrecherMeyerStrykKlingaufFlexibleSlamSystem2011,
author = {S. Kohlbrecher and J. Meyer and O. von Stryk and U. Klingauf},
title = {A Flexible and Scalable SLAM System with Full 3D Motion Estimation},
year = {2011},
month = {November},
booktitle = {Proc. IEEE International Symposium on Safety, Security and Rescue Robotics (SSRR)},
organization = {IEEE},
pdf = {2011_SSRR_KohlbrecherMeyerStrykKlingauf_Flexible_SLAM_System.pdf},
abstract = {For many applications in Urban Search and Rescue (USAR) scenarios robots need to learn a map of unknown environments. We present a system for fast online learning of occupancy grid maps requiring low computational resources. It combines a robust scan matching approach using a LIDAR system with a 3D attitude estimation system based on inertial sensing. By using a fast approximation of map gradients and a multi-resolution grid, reliable localization and mapping capabilities in a variety of challenging environments are realized. Multiple datasets showing the applicability in an embedded hand-held mapping system are provided. We show that the system is sufficiently accurate as to not require explicit loop closing techniques in the considered scenarios. The software is available as an open source package for ROS.},
}
@INPROCEEDINGS{2011:KohlbrecherStumpfVonStryk_WsHumSoc,
author = {S. Kohlbrecher and A. Stumpf and O. von Stryk},
title = {Grid-Based Occupancy Mapping and Automatic Gaze Control for Soccer Playing Humanoid Robots},
year = {2011},
month = {Oct. 26th - Oct. 28th},
address = {Bled},
booktitle = {Proc. 6th Workshop on Humanoid Soccer Robots at the 2011 IEEE-RAS Int. Conf. on Humanoid Robots},
keywords = {World Modeling, RoboCup, Probabilistic Robotics, State Estimation},
pdf = {2011_Humanoids_Kohlbrecher_Stumpf_Stryk_Grid_Based_Occupancy_Mapping_and_Automatic_Gaze_Control_for_Soccer_Playing_Humanoid_Robots.pdf},
abstract = {With advances in walking abilities of autonomous soccer playing humanoid robots, the world modeling and state estimation problem moves into focus, as only sufficiently accurate and robust modeling allows to leverage improved locomotion capabilities. A novel approach for dense grid-based obstacle mapping in dynamic environments with an additional application for automatic gaze control is presented in this paper. It is applicable for soccer playing humanoid robots with external sensing limited to human-like vision and strongly limited onboard computing abilities. The proposed approach allows fusion of information from different sources and efficiently provides a single consistent and robust world state estimate despite strong robot hardware limitations.},
}
@INPROCEEDINGS{2011:AMAM-BioBiped,
author = {C. Maufroy and H.-M. Maus and K. Radkhah and D. Scholz and O. von Stryk and A. Seyfarth},
title = {Dynamic leg function of the BioBiped humanoid robot},
year = {2011},
month = {Oct. 11-14},
address = {Osaka, Japan},
booktitle = {Proc. 5th Intl. Symposium on Adaptive Motion of Animals and Machines (AMAM)},
pdf = {2011-AMAM2011-MAUFROY-preprint.pdf},
abstract = {This contribution presents the concept and design of the first robot of the BioBiped series, aiming to transfer biomechanical insights regarding the mechanics and control of human walking and running to bipedal robot design and actuation. These are supported by preliminary experiments with the robot, where synchronous and alternate hopping motions could be successfully realized. This demonstrates that the robot design has the potential to develop dynamic gait patterns such as walking and running.},
}
@INPROCEEDINGS{2011:Humanoids-BioBiped1,
author = {D. Scholz and S. Kurowski and K. Radkhah and O. von Stryk},
title = {Bio-inspired motion control of the musculoskeletal BioBiped1 robot based on a learned inverse dynamics model},
year = {2011},
month = {Oct. 26-28},
address = {Bled, Slovenia},
booktitle = {Proc. 11th IEEE-RAS Intl. Conf. on Humanoid Robots},
pdf = {2011_Humanoids_Scholz_Kurowski_Radkhah_Stryk_Bio-Inspired_Motion_Control_of_the_Musculoskeletal_BioBiped1_Robot_Based_on_a_Learned_Inverse_Dynamics_Model.pdf},
abstract = {Based on the central hypothesis that a humanoid robot with human-like walking and running performance requires a bio-inspired embodiment of the musculoskeletal functions of the human leg as well as of its control structure, a bio-inspired approach for joint position control of the BioBiped1 robot is presented in this paper. This approach combines feedforward and feedback control running at 1 kHz and 40 Hz, respectively. The feed-forward control is based on an inverse dynamics model which is learned using Gaussian process regression to account for the robot’s body dynamics and external influences. For evaluation the learned model is used to control the robot purely feed-forward as well as in combination with a slow feedback controller. Both approaches are compared to a basic feedback PD-controller with respect to their tracking ability in experiments. It is shown, that the combined approach yields good results and outperforms the basic feedback controller when applied to the same set-point trajectories for the leg joints.},
}
@ARTICLE{parno2011,
author = {M. Parno and K. Fowler and T. Hemker},
title = {Applicability of Surrogates to Improve Efficiency of Particle Swarm Optimization for Simulation-based Problems},
journal = {Engineering Optimization},
year = {2011},
pages = {online},
doi = {10.1080/0305215X.2011.598521},
abstract = {Particle swarm optimization (PSO) is a population-based, heuristic technique based on social behaviour that performs well on a variety of problems including those with non-convex, non-smooth objective functions with multiple minima. However, the method can be computationally expensive in that a large number of function calls is required. This is a drawback when evaluations depend on an off-the-shelf simulation program, which is often the case in engineering applications. An algorithm is proposed which incorporates surrogates as a stand-in for the expensive objective function, within the PSO framework. Numerical results are presented on standard benchmarking problems and a simulation-based hydrology application to show that this hybrid can improve efficiency. A comparison is made between the application of a global PSO and a standard PSO to the same formulations with surrogates. Finally, data profiles, probability of success, and a measure of the signal-to-noise ratio of the the objective function are used to assess the use of a surrogate.},
}
@INPROCEEDINGS{iros2011:radkhah,
author = {K. Radkhah and O. von Stryk},
title = {Actuation requirements for hopping and running of the musculoskeletal robot BioBiped1},
year = {2011},
pages = {4811-4818},
booktitle = {IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS), Invited paper},
pdf = {2011_Radkhah_iros.pdf},
abstract = {Actuation with variable elasticity is considered a key property for the realization of human-like bipedal locomotion. Also, an intelligent and self-stable mechanical system is indispensable. While much effort of current research has been devoted to the development of variable impedance joint actuators, this paper deals with the important question of how to determine the actuation requirements of a compliant, musculoskeletal robot that is targeted at fast dynamic motions. In a step-by-step approach, design decisions for the elastic humanoid robot BioBiped1 are presented. Using multibody system dynamics models and simulations, incorporating bidirectional series elastic actuator models and a realistic ground contact model, we analyze the actuation requirements of the employed electrical motors for computer generated hopping and human data based running motions. The numerical simulation results are accompanied by videos of the dynamics simulations. Recent experiments on the real hardware have indicated that the selected motor-gear units and elastic transmissions support the desired dynamic motion goals.},
}
@INPROCEEDINGS{2011:Lens-etal,
author = {T. Lens and K. Radkhah and O. von Stryk},
title = {Simulation of Dynamics and Realistic Contact Forces for Manipulators and Legged Robots with High Joint Elasticity},
year = {2011},
pages = {34-41},
booktitle = {Proc. 15th International Conference on Advanced Robotics (ICAR)},
pdf = {2011_icar_lens-rdkhh_preprint.pdf},
abstract = {In this paper, multibody system dynamics simulation for manipulators and legged robots with high joint elasticities, particularly with focus on collision modeling, is addressed. We present the architecture of a newly developed toolbox in conjunction with a detailed discussion of a realistic contact, friction and stiction model, which is validated with real measurement data of a bouncing ball. The work presented is driven and inspired by two concrete robot developments in the authors" group: the manipulator BioRob and the biped BioBiped. The libraries are used to develop kinematic and kinetic models of these bio-inspired and highly elastic robots. Models and simulation of both robots are discussed, as well as occurring forces during collisions of the BioRob-X4 arm with the ground. We are also able to demonstrate good agreement of ground contact forces measured during slow jogging motion of a human subject with simulation results obtained with BioBiped1.},
}
@TECHREPORT{2011:rescue_tdp,
author = {Thorsten Graber and Stefan Kohlbrecher and Johannes Meyer and Karen Petersen and Oskar von Stryk},
title = {RoboCupRescue 2011 - Robot League Team Hector Darmstadt (Germany)},
year = {2011},
institution = {Technische Universität Darmstadt},
pdf = {2011_tdp_hector.pdf},
abstract = {The team Hector Darmstadt has been established from a PhD program funded by the German Research Foundation at TU Darmstadt.It combines expertise from Computer Science and Mechanical Engineering. The team successfully participates in the RoboCup Rescue League since 2009, with a focus on autonomous robots. Several team members have already contributed in the past to highly successful teams in the RoboCup Four-Legged and Humanoid League and in UAV competitions.},
}
@TECHREPORT{2011:dd_tdp,
author = {M. Friedmann and J. Kuhn and S. Kohlbrecher and K. Petersen and D. Scholz and D. Thomas and J. Wojtusch and O. von Stryk},
title = {Darmstadt Dribblers - Team Description for Humanoid KidSize League of RoboCup 2011},
year = {2011},
institution = {Technische Universität Darmstadt},
pdf = {2011_tdp_hum.pdf},
abstract = {This paper describes the hardware and software design and developments of the kidsize humanoid robot systems of the Darmstadt Dribblers in 2011. The robots are used as a vehicle for research in humanoid robotics and teams of cooperating, autonomous robots. The Humanoid League of RoboCup provides an ideal testbed for investigation of topics like stability, control and versatility of humanoid locomotion, behavior control of autonomous humanoid robots and robot teams with many degrees of freedom and many actuated joints, perception and world modeling based on very limited human-like, external sensing abilities as well as benchmarking of autonomous robot performance. The methodologies developed by the Darmstadt Dribblers to address reflex and cognitive control layers, image processing, perception, world modeling, behavior and motion control, robot simulation, monitoring and debugging are briefly discussed.},
}
@INPROCEEDINGS{2011:Reinl_etal_AIM,
author = {C. Reinl and M.Friedmann and J.Bauer and M. Pischan and E. Abele and O. von Stryk},
title = {Model-based Off-line Compensation of Path Deviation for Industrial Robots in Milling Applications},
year = {2011},
booktitle = {IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)},
}
@ARTICLE{hemker2011,
author = {T. Hemker and C. Werner},
title = {DIRECT using local search on surrogates},
journal = {Pacific Journal of Optimization},
year = {2011},
volume = {7},
number = {3},
pages = {443-466},
month = {September},
url = {http://www.ybook.co.jp/online2/oppjo/vol7/p443.html},
pdf = {2011_hemker.pdf},
abstract = {The solution of noisy nonlinear optimization problems with nonlinear constraints and derivative information is becoming increasingly important, as many practical applications can be described by this type of problem in e.g., engineering applications. Existing local optimization methods show good convergence properties. However, they often depend on sufficiently good starting points and/or the approximation of gradients. In turn, global derivative free methods, which need no starting values to be initialized, require many evaluations of the objective function, particularly in the vicinity of the solution. A derivative free optimization algorithm is developed that combines advantages of both local and global methods. The DIRECT algorithm, which is often used for problems where no prior knowledge is available as kind of a brute force start, is extended by an inner loop using a surrogate based optimization method. The local search on the surrogate function determines better candidates for sampling than the hypercube center points chosen by DIRECT, especially if constraints are arising. This inner loop needs no additional evaluation of the original problem. Standard test problems and a computational more expensive test problem are chosen to show the performance of the new algorithm.},
}
@INPROCEEDINGS{2011:KuhnReinlVonStryk_IFAC_WC11,
author = {J. Kuhn and C. Reinl and O. von Stryk},
title = {Predictive Control for Multi-Robot Observation of Multiple Moving Targets Based on Discrete-Continuous Linear Models},
year = {2011},
month = {Aug 28 - Sep 2},
address = {Milano, Italy},
booktitle = {Proceedings of the 18th IFAC World Congress},
pdf = {2011-IFAC-KuhnReinlVonStryk.pdf},
abstract = {The observation of multiple moving targets by cooperating mobile robots is a key problem in many security, surveillance and service applications. In essence, this problem is characterized by a tight coupling of target allocation and continuous trajectory planning. Optimal control of the multi-robot system generally neither permits to neglect physical motion dynamics nor to decouple or successively process target assignment and trajectory planning. In this paper, a numerically robust and stable model-predictive control strategy for solving the problem in the case of discrete-time double-integrator dynamics is presented. Optimization based on linear mixed logical dynamical system models allows for a flexible weighting of different aspects and optimal control inputs for settings of moderate size can be computed in real-time. By simulating sets of randomly generated situations, one can determine a maximum problem size solvable in real-time in terms of the number of considered robots, targets, and length of the prediction horizon. Based on this information, a decentralized control approach is proposed. },
}
@INBOOK{2011:Bauer_etal_ProcessMaschineInteractions,
author = {J. Bauer and M. Friedmann and T. Hemker and M. Pischan and C. Reinl and E. Abele and O. von Stryk},
title = {Analysis of Industrial Robot Structure and Milling Process Interaction for Path Manipulation},
year = {2011},
pages = {(accepted for publication)},
publisher = {Springer},
editor = {Prof. Dr.-Ing. Berend Denkena},
booktitle = {Process Machine Interactions},
}
@ARTICLE{2011:Abele_etal_JMST,
author = {E. Abele and J. Bauer and T. Hemker and R. Laurischkat and H. Meier and S. Reese and O. von Stryk},
title = {Comparison and Validation of Implementations of a Flexible Joint Multibody Dynamics System Model for an Industrial Robot},
journal = {CIRP Journal of Manufacturing Science and Technology},
year = {2011},
pages = {to appear},
doi = {http://dx.doi.org/10.1016/j.cirpj.2011.01.006},
abstract = {In this paper, different implementations of elastic joint models of industrial robots are described and compared established in ADAMS and SimMechanics. The models are intended to be used for path prediction under process force load due to Roboforming and High Speed Cutting, respectively. The computational results have been compared and showed good agreement. In experiments of robot forming and robot milling the measured and simulated path deviations according to the process force are compared. The experiments are descriped and the results are discussed within the paper as a basis of a next step model based compensation of the path deviation.},
}
@INPROCEEDINGS{petersen:2011,
author = {Karen Petersen and Oskar von Stryk},
title = {Towards a General Communication Concept for Human Supervision of Autonomous Robot Teams},
year = {2011},
pages = {228 -- 235},
booktitle = {Proceedings of the Fourth International Conference on Advances in Computer-Human Interactions (ACHI)},
pdf = {2011_petersen.pdf},
}
@ARTICLE{2011:IJHR-BioBiped,
author = {K. Radkhah and C. Maufroy and M. Maus and D. Scholz and A. Seyfarth and O. von Stryk},
title = {Concept and design of the BioBiped1 robot for human-like walking and running},
journal = {International Journal of Humanoid Robotics},
year = {2011},
volume = {8},
number = {3},
pages = {439-458},
keywords = {Hopping; running; jogging; walking; biped; biomechanics; humanoid locomotion; compliance; mechanical elasticity; series elastic actuation},
doi = {10.1142/S0219843611002587},
url = {http://www.worldscinet.com/ijhr/08/0803/S0219843611002587.html},
pdf = {2011_RadkhahEtAl_ijhr.pdf},
abstract = {Biomechanics research shows that the ability of the human locomotor system depends on the functionality of a highly compliant motor system that enables a variety of different motions (such as walking and running) and control paradigms (such as flexible combination of feedforward and feedback controls strategies) and reliance on stabilizing properties of compliant gaits. As a new approach of transferring this knowledge into a humanoid robot, the design and implementation of the first of a planned series of biologically inspired, compliant, and musculoskeletal robots is presented in this paper. Its three-segmented legs are actuated by compliant mono- and biarticular structures, which mimic the main nine human leg muscle groups, by applying series elastic actuation consisting of cables and springs in combination with electrical actuators. By means of this platform, we aim to transfer versatile human locomotion abilities, namely running and later on walking, into one humanoid robot design. First experimental results for passive rebound, as well as push-off with active knee and ankle joints, and synchronous and alternate hopping are described and discussed. BioBiped1 will serve for further evaluation of the validity of biomechanical concepts for humanoid locomotion.},
}
@INPROCEEDINGS{Meyer:2010:WorldModel,
author = {J. Meyer and P. Schnitzspan and S. Kohlbrecher and K. Petersen and O. Schwahn and M. Andriluka and U. Klingauf and S. Roth and B. Schiele and O. von Stryk},
title = {A Semantic World Model for Urban Search and Rescue Based on Heterogeneous Sensors},
year = {2011},
pages = {180 -- 193},
editor = {Ruiz-del-Solar, Javier and Chown, Eric and Ploeger, Paul G.},
series = {Lecture Notes in Computer Science, Lecture Notes in Artificial Intelligence},
booktitle = {RoboCup 2010: Robot Soccer World Cup XIV},
url = {https://springerlink3.metapress.com/content/n515v876ll57334l/resource-secured/?target=fulltext.pdf&sid=yyw2tr55m2on31z0hpufyw55&sh=www.springerlink.com},
pdf = {2010_rcs_worldmodel.pdf},
}
@INPROCEEDINGS{petersen:2010,
author = {K. Petersen and G. Stoll and O. von Stryk},
title = {A Supporter Behavior for Soccer Playing Humanoid Robots},
year = {2011},
pages = {386 -- 396},
editor = {Ruiz-del-Solar, Javier and Chown, Eric and Ploeger, Paul G.},
series = {Lecture Notes in Computer Science, Lecture Notes in Artificial Intelligence},
booktitle = {RoboCup 2010: Robot Soccer World Cup XIV},
url = {https://springerlink3.metapress.com/content/fqqv74t28m65742n/resource-secured/?target=fulltext.pdf&sid=yyw2tr55m2on31z0hpufyw55&sh=www.springerlink.com},
pdf = {2010_rcs_supporter.pdf},
}
@INCOLLECTION{2011:KhelilReinlAyariShaikhSzczytowskiAliSuri_PCN,
author = {Abdelmajid Khelil and Christian Reinl and Brahim Ayari and Faisal Karim Shaikh and Piotr Szczytowski and Azad Ali and Neeraj Suri},
title = {Wireless Sensor Cooperation for a Sustainable Quality of Information},
year = {2011},
publisher = {John Wiley & Sons, Ltd., UK.},
editor = {Mohammad S. Obaidat and Mieso Denko and Isaac Woungang},
chapter = {6},
booktitle = {Pervasive Computing and Networking},
}
@INBOOK{Khelil_etal_Reinl_2011,
author = {Abdelmajid Khelil and Christian Reinl and Faisal Karim Shaikh and Azad Ali and Neeraj Suri },
title = {Delay-Tolerant Monitoring of Mobility-Assisted Wireless Sensor Networks},
year = {2011},
pages = {---},
month = {November},
publisher = {CRC Press, Taylor & Francis Group},
editor = {Athanasios Vasilakos, Yan Zhang, Thrasyvoulos Spyropoulos},
booktitle = {Delay Tolerant Networks: Protocols and Applications},
pdf = {2011_Kehlil_etal_DTN_preprint.pdf},
}
@INPROCEEDINGS{2010:ThomasScholzTemplerVonStryk_WsHumSim,
author = {Dirk Thomas and Dorian Scholz and Simon Templer and Oskar von Stryk},
title = {Sophisticated Offline Analysis of Teams of Autonomous Mobile Robots},
year = {2010},
month = {December},
address = {Nashville, TN},
booktitle = {Proc. 5th Workshop on Humanoid Soccer Robots at the 2010 IEEE-RAS Int. Conf. on Humanoid Robots},
keywords = {Robot Team Analysis, RoboCup},
pdf = {2010_humanoids_soccer_workshop-team_analysis-thomas-scholz-templer-stryk.pdf},
abstract = {Debugging control software for an autonomous mobile robot is a difficult and time consuming task. But it gets even harder, when analyzing a whole team of robots and their team behavior. The quality of the robots’ decisions based on their current knowledge cannot be judged anymore by merely looking at their actions from the outside. In this paper an approach for collecting intrinsic and extrinsic data of a team of robots during full operation and analyzing this data offline is described. Since the amount of data to be collected is quite large a method for automated and semi-automated analysis is shown - making it possible to detect known problems in an automated process and mark potentially interesting events for manual review. Furthermore a solution to reuse existing single robot debugging tools on teams of robots, without rewriting each tool, is presented. },
}
@INPROCEEDINGS{2010:IWK-Karguth-vonStryk,
author = {M. Schweitzer and C. Trommer and A. Karguth and J. Kunz and T. Lens and O. v. Stryk},
title = {Safe Human Interaction with the Compliant Robot Arm BioRob},
year = {2010},
booktitle = {55. Internationales Wissenschaftliches Kolloquium 2010 der TU Ilmenau, TU Ilmenau (Hrsg.)},
pdf = {2010-IWK-Schweizer_etal_Safe_Human_Interaction_BioRob_PREPRINT.pdf},
}
@TECHREPORT{2010:rescue_tdp,
author = {Mykhaylo Andriluka and Stefan Kohlbrecher and Johannes Meyer and Karen Petersen and Paul Schitzspan and Oskar von Stryk},
title = {RoboCupRescue 2010 - Robot League Team Hector Darmstadt (Germany)},
year = {2010},
institution = {Technische Universität Darmstadt},
pdf = {2010_rescue_tdp.pdf},
}
@INPROCEEDINGS{2010:KohlbrecherVonStryk_WsHumSoc,
author = {S. Kohlbrecher and O. von Stryk},
title = {Modeling Observation Uncertainty for Soccer Playing Humanoid Robots},
year = {2010},
month = {Dec. 6 - Dec. 8},
address = {Nashville},
booktitle = {Proc. 5th Workshop on Humanoid Soccer Robots at the 2010 IEEE-RAS Int. Conf. on Humanoid Robots},
keywords = {World Modeling, RoboCup, Probabilistic Robotics, State Estimation},
pdf = {Humanoids10_Kohlbrecher_Stryk_Modeling_Observation_Uncertainty.pdf},
abstract = {In recent years, humanoid robot soccer robots have shown increasingly robust and fast locomotion, making perception, world modeling and behavior control important. In this paper, we present the world modeling approach of the Darmstadt Dribblers humanoid robot team, which won the competitions in the RoboCup Humanoid KidSize League in 2009 and 2010. The paper focuses on modeling observation uncertainties originating from different contributing factors centrally in one module. This allows different state estimators to use this data in a consistent way, independently of the specific state estimation approach used.},
}
@INPROCEEDINGS{andriluka:2010_iros,
author = {Mykhaylo Andriluka and Paul Schnitzspan and Johannes Meyer and Stefan Kohlbrecher and Karen Petersen and Oskar von Stryk and Stefan Roth and Bernt Schiele},
title = {Vision Based Victim Detection from Unmanned Aerial Vehicles},
year = {2010},
month = {Oct. 18 - 22},
booktitle = {Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pdf = {2010_iros_andriluka-etal.pdf},
}
@PROCEEDINGS{2010:SIMPAR-Proc,
author = {},
title = {Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010)},
year = {2010},
volume = {6472},
publisher = {Springer},
editor = {N. Ando and S. Balakirsky and T. Hemker and M. Reggiani and O. von Stryk},
series = {Lecture Notes in Artificial Intelligence},
doi = {10.1007/978-3-642-17319-6},
url = {http://dx.doi.org/10.1007/978-3-642-17319-6},
abstract = {Proceedings of the Second International Conference on Simulation, Modeling and Programming for Autonomous Robots, SIMPAR 2010, Darmstadt, Germany, November 15-18, 2010.},
}
@TECHREPORT{2010:dd_tdp,
author = {M. Friedmann and T. Hemker and S. Kohlbrecher and K. Petersen and S. Petters and K. Radkhah and M. Risler and D. Scholz and D. Thomas and O. von Stryk},
title = {Darmstadt Dribblers - Team Description for Humanoid KidSize League of RoboCup 2010},
year = {2010},
institution = {Technische Universität Darmstadt},
pdf = {2010-tdp-hum.pdf},
abstract = {This paper describes the hardware and software design of the kidsize humanoid robot systems of the Darmstadt Dribblers in 2010. The robots are used as a vehicle for research in control of locomotion and behavior of autonomous humanoid robots and robot teams with many degrees of freedom and many actuated joints. The Humanoid League of RoboCup provides an ideal testbed for such aspects of dynamics in motion and autonomous behavior as the problem of generating and maintaining statically or dynamically stable bipedal locomotion is predominant for all types of vision guided motions during a soccer game. A modular software architecture as well as further technologies have been developed for ecient and e ective implementation and test of modules for sensing, planning, behavior, and actions of humanoid robots.},
}
@INPROCEEDINGS{2010:SIMPAR-Lens,
author = {T. Lens and J. Kunz and O. von Stryk},
title = {Dynamic Modeling of the 4 DoF BioRob Series Elastic Robot Arm for Simulation and Control},
year = {2010},
volume = {6472},
pages = {411-422},
publisher = {Springer},
series = {Lecture Notes in Artificial Intelligence},
booktitle = {Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010)},
doi = {10.1007/978-3-642-17319-6_38},
pdf = {2010-SIMPAR-Lens_etal_PREPRINT.pdf},
abstract = {This paper presents the modeling of the light-weight BioRob robot arm with series elastic actuation for simulation and controller design. We describe the kinematic coupling introduced by the cable actuation and the robot arm dynamics including the elastic actuator and motor and gear model. We show how the inverse dynamics model derived from these equations can be used as a basis for a position tracking controller that is able to sufficiently damp the oscillations caused by the high, nonlinear joint elasticity. We presents results from simulation and brieföy describe the implementation for a real world application.},
}
@INPROCEEDINGS{rdkhh-kurowski:2010,
author = {K. Radkhah and S. Kurowski and T. Lens and O. von Stryk},
title = {Compliant Robot Actuation by Feedforward Controlled Emulated Spring Stiffness},
year = {2010},
volume = {6472},
pages = {497-508},
publisher = {Springer},
booktitle = {Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010)},
pdf = {2010_simpar_rdkhh_preprint.pdf},
abstract = {Existing legged robots lack energy-inefficiency, performance and adaptivity when confronted with situations that animals cope with on a routine basis. Bridging the gap between artificial and natural systems requires not only better sensorimotor and learning capabilities but also a corresponding motion apparatus and intelligent actuators. Current actuators with online adaptable compliance pose high requirements on software control algorithms and sensor systems. We present a novel actuation mechanism and technique that allows for a virtual stiffness change of a deployed extended series elastic actuator without posing high energy requirements. The performance limits of the approach are assessed by comparing to an active and a passive compliant methodology. For this purpose we use a 2-degrees-of-freedom arm with and without periodic load representing a 2-segmented leg with and without ground contact. The simulation results indicate that the method is suited for the use in legged robots. },
}
@INPROCEEDINGS{2010:IROS-Thomas-vonStryk,
author = {D. Thomas and O. von Stryk},
title = {Efficient Communication in Autonomous Robot Software},
year = {2010},
month = {Oct. 18 - 22},
address = {Taipei, Taiwan},
booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pdf = {2010-IROS-Thomas-vonStryk.pdf},
abstract = {Software for autonomous robots solving challenging tasks in research or application is becoming increasingly complex. System integration has to deal with various different functional components. To decouple those components from each other and to enable a modular and reuseable software architecture a robot middleware is typically used. But this intermediate layer introduces significant additional overhead during run-time. In this work a methodology is described to utilize specific application characteristics to improve communication efficiency between different robot software modules. By composing several components in a single thread memory copying or locking operations can be avoided, when data is exchanged between those parts. The optimization can be achieved without compromising the advantages of a communication layer. Still the modifications are transparent to the maybe already existing components. Experimental results in the scenario of autonomous soccer-playing humanoid robots are presented and exhibit remarkable reduction in communication overhead. Furthermore this approach can be implemented in or on-top of other communication layers.},
}
@INPROCEEDINGS{2010:SIMPAR_Friedmann_etal,
author = {Martin Friedmann and Karen Petersen and Oskar von Stryk},
title = {Advanced simulation of distance sensors for mobile robots},
year = {2010},
volume = {6472},
pages = {63-74},
publisher = {Springer},
series = {Lecture Notes in Artificial Intelligence},
booktitle = {Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010)},
abstract = {Distance sensors are an important class of external sensors used in many autonomous robots. Thus it is of importance to provide proper simulation for these sensors to enable software-in-the-loop testing of a robot"s control software. Two di erent methods for distance calculation are commonly applied for the simulation of such sensors, namely reading back the depth bu er from 3D renderings and the calculation of ray-object-intersections. Many simulators impose restrictions on either method, none of the widely used robot simulators reviewed in this paper currently considers material dependent simulation of the distances measured. In this paper extended versions of both methods are presented which provide additional information on the object perceived by distance sensors. Several methods for incorporating distance- and object-information into a complete distance-sensor simulation-module are discussed. Implementations of either method are compared for their performance depending on the sensor resolution on di erent computer systems. These measurements show, that the break even of the methods strongly depends on the hardware, thus stressing the importance of providing either method in a robot simulation in a transparent way in order to obtain optimal performance of the simulation.},
}
@INPROCEEDINGS{2010:SIMPAR_Sachidananda_Etal,
author = {Vinay Sachidananda and Diego Costantini and Christian Reinl and Dominik Haumann and Karen Petersen and Parag S. Mogre and Abdelmajid Khelil},
title = {Simulation and Evaluation of Mixed-Mode Environments: Towards Higher Quality of Simulations},
year = {2010},
pages = {133 - 143},
publisher = {Springer},
booktitle = {Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2010)},
pdf = {2010_simpar_quosim.pdf},
}
@INPROCEEDINGS{2010:biorob_radkhah,
author = {K. Radkhah and T. Lens and A. Seyfarth and O. von Stryk},
title = {On the Influence of Elastic Actuation and Monoarticular Structures in Biologically Inspired Bipedal Robots},
year = {2010},
pages = {389-394},
booktitle = {Proc. 2010 IEEE International Conference on Biomedical Robotics and Biomechatronics},
pdf = {2010_biorob_rdkhh_preprint.pdf},
abstract = {Implementing the intrinsically compliant and energy-efficient leg behavior found in humans for humanoid robots is a challenging task. Control complexity and energy requirements are two major obstacles for the design of legged robots. Past projects revealed that the control complexity can be drastically reduced by designing mechanically intelligent systems with self-stabilization structures. Breaking through the latter obstacle can be achieved by the development and use of compliant actuators. Mechanical elasticity and its online adaptation in legged systems are generally accepted as the technologies to achieve human-like mobility. However, elastic actuation does not necessarily result in energy-efficient systems. We show that mechanical elasticity, although being worthwhile, can have negative effects on the performance of drives. We present a methodology that introduces both elasticity and energy-efficiency to a bipedal model. To this end, we report on the influence of monoarticular structures and demonstrate that these structures have the potential to both take us a step further toward the goal of realizing human-like locomotion and reduce the energy consumption. },
}
@INPROCEEDINGS{2010:AbeleBauerPrischanStrykFriedmannHemker,
author = {E. Abele and J. Bauer and M. Pischan and O. v. Stryk and M. Friedmann and T. Hemker},
title = {Prediction of the Tool Displacement for Robot Milling Applications using Co-Simulation of an Industrial Robot and a Removal Process},
year = {2010},
month = {jun},
booktitle = {CIRP 2nd International Conference Process Machine Interactions},
organization = {CIRP },
keywords = {Milling, Industrial Robot, Machine Process Interaction, Material removal simulation},
pdf = {2010-PMI_preprint.pdf},
abstract = {Industrial robots are used in a great variety of applications for handling, welding and milling operations. They represent a cost-saving and flexible alternative for machining applications. A reduced pose and path accuracy, especially under process force load due to the high mechanical compliance, restrict the use of industrial robots for further machining applications. In this paper a method is presented to predict the resulting path deviation of the robot under process force. A process force simulation based on a material removal calculation is proposed. The presented material removal simulation allows the calculation of the chip geometry even in complex cutter work piece engagement conditions. The removal simulation is validated by means of conducted milling tests. By coupling the removal simulation with a robot model the path deviation can be predicted. },
}
@TECHREPORT{griffin2010,
author = {Joshua D. Griffin and Kathleen R. Fowler and Genetha A. Gray and Thomas Hemker and Matthew D. Parno},
title = {Derivative-Free Optimization Via Evolutionary Algorithms Guiding Local Search},
year = {2010},
institution = {Sandia National Laboratories},
pdf = {2010-griffin_etal.pdf},
abstract = {In this paper, we describe the technical details of HOPSPACK (Hybrid Optimization Parallel Search Package), a new software platform which facilitates combining multiple optimization routines into a single, tightly-coupled, hybrid algorithm that supports parallel function evaluations. The framework is designed such that existing optimization source code can be easily incorporated with minimal code modification. By maintaining the integrity of each individual solver, the strengths and code sophistication of the original optimization package are retained and exploited.},
}
@INPROCEEDINGS{Radkhah_Clawar:2010,
author = {K. Radkhah and D. Scholz and A. Anjorin and M. Rath and O. von Stryk },
title = {Simple yet effective technique for robust real-time instability detection for humanoid robots using minimal sensor input},
year = {2010},
pages = {680-689},
month = {Aug. 31 - Sep. 03},
address = {Nagoya, Japan},
booktitle = {13th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines (CLAWAR2010)},
pdf = {2010_clawar_rdkhh_preprint.pdf},
abstract = {Legged locomotion of autonomous humanoid robots is advantageous but also challenging since it inherently suffers from high posture instability. External disturbances such as collisions with other objects or robots in the environment can cause a robot to fall. Many of the existing approaches for instability detection and falling prevention include a large number of sensors resulting in complex multi-sensor data fusion and are not decoupled from the walking motion planning. Such methods can not simply be integrated into an existing low-level controller for real-time motion generation and stabilization of a humanoid robot. A procedure that is both easily implementable using a minimal number of affordable sensors and capable of reliable detection of posture instabilities is missing to date. We propose a simple, yet reliable balance control technique consisting of a filtering module for the used data from two-axes-gyroscopes and -accelerometers located at the trunk, an instability classification algorithm, and a lunge step module. The modules are implemented on our humanoid robots which participate at the yearly RoboCup competitions in the humanoid kid-size league of soccer playing robots. Experimental results show that the approach is suited for real-time operation during walking. },
}
@INPROCEEDINGS{2010:ISR-Lens_etal,
author = {T. Lens and J. Kunz and C. Trommer and A. Karguth and O. von Stryk},
title = {BioRob-Arm: A Quickly Deployable and Intrinsically Safe, Light- Weight Robot Arm for Service Robotics Applications},
year = {2010},
pages = {905-910},
month = {Jun},
address = {Munich, Germany},
booktitle = {41st International Symposium on Robotics (ISR 2010) / 6th German Conference on Robotics (ROBOTIK 2010)},
pdf = {2010-ISR_Robotik_Lens_etal_preprint.pdf},
abstract = {Using conventional rigid industrial manipulators for service robotics applications typically demands huge efforts for safety measurements resulting in high installation and operation costs. We present how the BioRob robot arm is based on a combination of compliant actuation and lightweight mechanical design to obtain the flexibility, mobility and, most important, the inherent safety properties needed to implement effective and safe service robotics applications. We discuss the sensors and control structure used to damp the oscillations caused by the significant joint compliance of the arm and to obtain the accuracy needed for the intended applications. The concluding example of a typical pick and place application with teaching by manual guidance illustrates the benefits of the BioRob design for service robotics applications.},
}
@INPROCEEDINGS{radkhah_ISR:2010,
author = {K. Radkhah and M. Maus and D. Scholz and A. Seyfarth and O. von Stryk},
title = {Towards Human-Like Bipedal Locomotion with Three-Segmented Elastic Legs},
year = {2010},
pages = {696-703},
month = {Jun 7-9},
address = {Munich, Germany},
booktitle = {41st International Symposium on Robotics (ISR 2010)/ 6th German Conference on Robotics (ROBOTIK 2010)},
pdf = {2010_isr_rdkhh_preprint.pdf},
abstract = {The long-term goal of the recently launched project BioBiped is to develop autonomous bipedal robots that are capable of energy-efficient multi-modal locomotion. In this paper we give a brief review of the important insights and techniques gained in previous and current projects leading to a new generation of human-like robots. Furthermore, we present the hardware design and the applied principles for the bipedal robot with three-segmented elastic legs that is currently under development. In the latter part of the paper we describe optimization methods that yield optimal parameter sets for tuning the walking and running gaits for a robot prototype with the same kinematic leg design. },
}
@ARTICLE{2010:RAS-KienervonStryk,
author = {J. Kiener and O. von Stryk},
title = {Towards cooperation of heterogeneous, autonomous robots: a case study of humanoid and wheeled robots},
journal = {Robotics and Autonomous Systems},
year = {2010},
volume = {58},
number = {7},
pages = {921-929},
keywords = {Heterogeneous multi-robot team; autonomous humanoid robot; task distribution and allocation; behavior control; robot middleware; robot simulator},
doi = {10.1016/j.robot.2010.03.013},
url = {http://www.sciencedirect.com/science?_ob=ArticleURL&_udi=B6V16-4YWYYX7-1&_user=2415276&_coverDate=04%2F21%2F2010&_rdoc=1&_fmt=high&_orig=search&_sort=d&_docanchor=&view=c&_acct=C000057219&_version=1&_urlVersion=0&_userid=2415276&md5=8e045daf0cc7255001bc1e4d9e67628c},
pdf = {2010-KienervonStryk.pdf},
abstract = {In this paper a case study of cooperation of a strongly heterogeneous autonomous robot team, composed of a highly articulated humanoid robot and a wheeled robot with largely complementing and some redundant abilities is presented. By combining strongly heterogeneous robots the diversity of achievable tasks increases as the variety of sensing and motion abilities of the robot system is extended compared to a usually considered team of homogeneous robots. A number of methodologies and technologies required to achieve the long-term goal of cooperation of heterogeneous autonomous robots are discussed including modeling tasks and robot abilities, task assignment and redistribution, robot behavior modeling and programming, robot middleware and robot simulation. Example solutions and their application to the cooperation of autonomous wheeled and humanoid robots are presented in this case study. The scenario describes a tightly coupled cooperative task, where the humanoid robot and the wheeled robot track a moving ball, which is to be approached and kicked by the humanoid robot into a goal. The task can be fulfilled successfully by combining the abilities of both robots.},
}
@ARTICLE{2010:IJMMS-Radkhah-etal,
author = {K. Radkhah and T. Hemker and O. von Stryk},
title = {Self-calibration for industrial robots with rotational joints},
journal = {Int. J. Mechatronics and Manufacturing Systems},
year = {2010},
volume = {3},
number = {3/4},
pages = {187-209},
pdf = {2010_ijmms_rdkhh_preprint.pdf},
}
@INPROCEEDINGS{2009_ReinlVonStryk_GMA140,
author = {Christian Reinl and Oskar von Stryk},
title = {MILP-basierte Optimalsteuerung kooperativer Multi-Vehikel-Systeme},
year = {2009},
pages = {138 - 150},
month = {Sept},
note = {ISBN 978-3-9502451-4-1},
publisher = {Technische Universität Wien, Institut für Automatisierungs- und Regelungstechnik},
editor = {Andreas Kugi, Boris Lohmann},
booktitle = {GMA-Fachausschuss 1.40 "Theoretische Verfahren der Regelungstechnik" Tagungsband},
organization = {VDI/VDE-Gesellschaft Mess- und Automatisierungstechnik},
pdf = {2009-GMA_Reinl_Stryk.pdf},
}
@INPROCEEDINGS{2009:ScholzFriedmannVonStryk_WsHumSoc,
author = {D. Scholz and M. Friedmann and O. von Stryk},
title = {Fast, Robust and Versatile Humanoid Robot Locomotion with Minimal Sensor Input},
year = {2009},
pages = {to appear},
month = {Dec. 7 - Dec. 10},
address = {Paris},
booktitle = {Proc. 4th Workshop on Humanoid Soccer Robots at the 2009 IEEE-RAS Int. Conf. on Humanoid Robots},
keywords = {Humanoid Motion Generation, RoboCup},
pdf = {Humanoids09_Scholz_Friedmann_Stryk_MotionGeneration.pdf},
abstract = {The generation of fast and robust locomotion is one of the crucial problems to be solved for a competitive autonomous humanoid soccer robot. During the last decades many different approaches to solve this problem have been investigated. In this paper a simplified yet powerful approach for generation of locomotion for an autonomous humanoid robot is described. It is based on an open loop trajectory generation with an overlying gyroscope-based closed loop postural stabilization. Unlike other widely used approaches in humanoid robotics the trajectory generation is completely decoupled from the stabilization algorithm, thus simplifying design, implementation and testing of either algorithm. The only sensor required for postural stabilization is a two axis gyroscope in the robot"s hip. No further sensors like foot-ground contact or force sensors, which are typically applied in many other approaches, are required. Nevertheless the presented approach exhibits remarkable performance. Furthermore this approach can be implemented easily in many available robots without complex modifications of the hardware. Experimental results for various types of locomotion are presented for two different robots used in the 2009 RoboCup Humanoid KidSize competition. },
}
@INPROCEEDINGS{radkhah_Robio:2009,
author = {K. Radkhah and S. Kurowski and O. von Stryk},
title = {Design Considerations for a Biologically Inspired Compliant Four-Legged Robot },
year = {2009},
pages = {598-603},
month = {Dec 19-23},
note = {Finalist for Best Paper Award in Biomimetics},
address = {Guilin, Guangxi, China},
booktitle = {Proc. 2009 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
url = {http://ieeexplore.ieee.org/search/freesrchabstract.jsp?tp=&arnumber=5420606&queryText%3Drobio+Design+Considerations+for+a+Biologically+Inspired+Compliant+Four-Legged+Robot%26openedRefinements%3D*%26searchField%3DSearch+All},
pdf = {2009_robio_rdkhh_preprint.pdf},
abstract = {In this paper we summarize some basic principles of legged locomotion in animals and then discuss the application of the principles to the design and fabrication of a four-legged robot. The here presented model combines ideas for better locomotion of robots both in the biologically inspired, mechanically intelligent structure and in the bionic controller. The movement of the legs is triggered by bionic drives with a setup similarly to biological muscles. The robot is characterized by several different gaits and an animal like locomotion without using feedback control. It has four legs, each having three joints of which two are actuated. During the development we also paid attention to the technical realization of the model. Special techniques to reduce the weight of the robot such as the achievement of different motions by changing the spring stiffness by means of intelligent control instead of an additional motor were also focused on during the development. Two novel features of our four-legged concept comprise the possibility of easily changing the spring stiffness deployed in the bionic drives of the joints and the way of this adjustment which requires neither complex computation nor additional motor. This feature allows the smooth transition to different gaits without necessarily having to change the controller parameters.},
}
@TECHREPORT{2009:dd_tdp,
author = {M. Friedmann and K. Petersen and S. Petters and K. Radkhah and Dorian Scholz and D. Thomas and O. von Stryk},
title = {Darmstadt Dribblers: Team Description for Humanoid KidSize League of RoboCup 2009},
year = {2009},
institution = {Technische Universität Darmstadt},
pdf = {2009-tdp-hum.pdf},
abstract = {This paper describes the hardware and software design of the kidsize humanoid robot systems of the Darmstadt Dribblers in 2009. The robots are used as a vehicle for research in control of locomotion and behavior of autonomous humanoid robots and robot teams with any degrees of freedom and many actuated joints. The Humanoid League of RoboCup provides an ideal testbed for such aspects of dynamics in motion and autonomous behavior as the problem of generating and maintaining statically or dynamically stable bipedal locomotion is predominant for all types of vision guided motions during a soccer game. A modular software architecture as well as further technologies have been developed for efficient and effective implementation and test of modules for sensing, planning, behavior, and actions of humanoid robots. },
}
@TECHREPORT{Parno2009,
author = {M. D. Parno and K. R. Fowler and T. Hemker},
title = {Framework for Particle Swarm Optimization with Surrogate Functions},
year = {2009},
number = {TUD-CS-2009-0139},
institution = {Technische Universit\"at Darmstadt, Department of Computer Science},
pdf = {Parno2009.pdf},
abstract = {Particle swarm optimization (PSO) is a population-based, heuristic minimization technique that is based on social behavior. The method has been shown to perform well on a variety of problems including those with nonconvex, nonsmooth objective functions with multiple local minima. However, the method can be computationally expensive in that a large number of function calls is required to advance the swarm at each optimization iteration. This is a significant drawback when function evaluations depend on output from an off-the-shelf simulation program, which is often the case in engineering applications. To this end, we propose an algorithm which incorporates surrogate functions, which serve as a stand-in for the expensive objective function, within the PSO framework. We present numerical results to show that this hybrid approach can improve algorithmic efficiency.},
}
@INPROCEEDINGS{radkhah:2009,
author = {K. Radkhah and T. Hemker and M. Friedmann and O. von Stryk},
title = {Towards the deployment of industrial robots as measurement instruments - An extended forward kinematic model incorporating geometric and nongeometric effects },
year = {2009},
pages = {124-129},
month = {Jul. 14 - Jul. 17},
address = {Singapore, Singapore},
booktitle = {Proc. 2009 IEEE/ASME Conference on Advanced Intelligent Mechatronics},
url = {http://ieeexplore.ieee.org/Xplore/login.jsp?url=http%3A%2F%2Fieeexplore.ieee.org%2Fiel5%2F5211950%2F5229709%2F05230028.pdf%3Farnumber%3D5230028&authDecision=-203},
abstract = {In the area of mounting and spot-welding of body-in-white, absolutely accurate robots are installed as measuring instruments, replacing expensive coordinate and other external measuring machines. Measurement technologies based on industrial robots play an increasingly important role. Such applications require highly accurate robots. Prior to deployment of highly accurate robot, however, it needs to be ensured that the implemented robot model fits the real model. Robot calibration can offer a significant opportunity to improve the positioning accuracy and to cut production costs. Existing calibration approaches fail to capture geometric and elastic effects occurring in the robot forward kinematics. Therefore, in this work an extended forward kinematic model incorporating both geometric and elastic effects has been developed in which the positioning accuracy of a manipulator, with or without an accurate internal robot model in the robot controller, is improved. },
}
@ARTICLE{2009:RAS-FPvS,
author = {M. Friedmann and K. Petersen and O. von Stryk},
title = {Adequate motion simulation and collision detection for soccer playing humanoid robots},
journal = {Robotics and Autonomous Systems},
year = {2009},
volume = {57},
pages = {786-795},
doi = {10.1016/j.robot.2009.03.008},
url = {http://dx.doi.org/10.1016/j.robot.2009.03.008},
pdf = {2009_friedmann_RAS.pdf},
abstract = {In this paper a humanoid robot simulator based on the multi-robot simulation framework (MuRoSimF) is presented. Among the unique features of this simulator is the scalability in the level of physical detail in both the robot"s motion and sensing systems. It facilitates the development of control software for humanoid robots which is demonstrated for several scenarios from the RoboCup Humanoid Robot League. Different requirements exist for a humanoid robot simulator. E.g., testing of algorithms for motion control and postural stability require high fidelity of physical motion properties whereas testing of behavior control and role distribution for a robot team requires only a moderate level of detail for real-time simulation of multiple robots. To meet such very different requirements often different simulators are used which makes it necessary to model a robot multiple times and to integrate different simulations with high-level robot control software. MuRoSimF provides the capability of exchanging the simulation algorithms used for each robot transparently, thus allowing a trade-off between computational performance and fidelity of the simulation. It is therefore possible to choose different simulation algorithms which are adequate for the needs of a given simulation experiment, for example, motion simulation of humanoid robots based on kinematical, simplified dynamics or full multi-body system dynamics algorithms. In this paper also the sensor simulation capabilities of MuRoSimF are revised. The methods for motion simulation and collision detection and handling are presented in detail including an algorithm which allows the real-time simulation of the full dynamics of a 21 DOF humanoid robot. Merits and drawbacks of the different algorithms are discussed in the light of different simulation purposes. The simulator performance is measured and illustrated in various examples, including comparison with experiments of a physical humanoid robot.},
}
@ARTICLE{2009:ReinlGlockerStryk_AT,
author = {C. Reinl and M. Glocker and O. von Stryk},
title = {Optimalsteuerung kooperierender Mehrfahrzeugsysteme (Optimal Control of Cooperative Multi-Vehicle Systems)},
journal = {at-Automatisierungstechnik},
year = {2009},
volume = {57},
number = {6},
pages = {296-305},
doi = {10.1524/auto.2009.0778},
url = {http://www.atypon-link.com/OLD/doi/pdfplus/10.1524/auto.2009.0778},
pdf = {2009-reinl-vonstryk-AT.pdf},
abstract = {Nichtlineare hybride dynamische Systemmodelle kooperativer Optimalsteuerungsprobleme ermöglichen eine enge und formale Kopplung von diskreter und kontinuierlicher Zustandsdynamik, d.h. von dynamischer Rollen-, Aktionszuweisung mit wechselnder physikalischer Fahrdynamik. In den resultierenden gemischt-ganzzahligen Mehrphasen-Optimalsteuerungsproblemen können Beschränkungen an diskrete und kontinuierliche Zustands- und Steuervariablen berücksichtigt werden, z.B. Formations- oder Kommunikationsanforderungen. Zwei numerische Verfahren werden untersucht: ein Dekompositionsansatz mit Branch-and-Bound und direktem Kollokationsverfahren sowie die Approximation durch große, gemischt-ganzzahlige lineare Optimierungsaufgaben. Die Verfahren werden auf exemplarische Problemstellungen angewendet: Die simultane Wegpunktreihenfolge- und Trajektorienoptimierung von Luftfahrzeugen sowie die Optimierung von Rollenverteilung und Trajektorien im Roboterfußball. Nonlinear hybrid dynamical systems for modeling optimal cooperative control enable a tight and formal coupling of discrete and continuous state dynamics, i.e. of dynamic role and task assignment with switching dynamics of motions. In the resulting mixed-integer multi-phase optimal control problems constraints on the discrete and continuous state and control variables can be considered, e.g., formation or communication requirements. Two numerical methods are investigated: a decomposition approach using branch-and- bound and direct collocation methods as well as an approximation by large-scale, mixed-integer linear problems. Both methods are applied to example problems: the optimal simultaneous waypoint sequencing and trajectory planning of a team of aerial vehicles and the optimization of role distribution and trajectories in robot soccer.},
}
@TECHREPORT{2009:rescue_tdp,
author = {Micha Andriluka and Martin Friedmann and Stefan Kohlbrecher and Johannes Meyer and Karen Petersen and Christian Reinl and Peter Schau{\ss} and Paul Schnitzspan and Armin Strobel and Dirk Thomas and Oskar von Stryk},
title = {RoboCupRescue 2009 - Robot League Team: Darmstadt Rescue Robot Team (Germany)},
year = {2009},
institution = {Technische Universität Darmstadt},
pdf = {2009_rescue_tdp.pdf},
abstract = {The Darmstadt Rescue Robot Team is a new team established from a PhD program funded by the German Research Foundation at TU Darmstadt. It combines expertise from Computer Science and Mechanical Engineering. Several team members have already contributed in the past to highly successful teams in the RoboCup four-legged and humanoid leagues. },
}
@INPROCEEDINGS{2008:RCS-BeckerRisler,
author = {D. Becker and M. Risler},
title = {Mutual localization in a team of autonomous robots using acoustic robot detection},
year = {2009},
volume = {5399},
pages = {35-48},
publisher = {Springer Verlag},
editor = {L. Iocchi, H. Matsubara, A. Weitzenfeld, C. Zhou},
series = {Lecture Notes in Artificial Intelligence},
booktitle = {RoboCup 2008: Robot Soccer World Cup XII},
pdf = {rc08_becker_risler_preprint.pdf},
abstract = {In order to improve self-localization accuracy we are exploring ways of mutual localization in a team of autonomous robots. Detecting team mates visually usually leads to inaccurate bearings and only rough distance estimates. Also, visually identifying teammates is not possible. Therefore we are investigating methods of gaining relative position information acoustically in a team of robots. The technique introduced in this paper is a variant of code-multiplexed communication (CDMA, code division multiple access). In a CDMA system, several receivers and senders can communicate at the same time, using the same carrier frequency. Well-known examples of CDMA systems include wireless computer networks and the Global Positioning System, GPS. While these systems use electro-magnetic waves, we will try to adopt the CDMA principle towards using acoustic pattern recognition, enabling robots to calculate distances and bearings to each other. First, we explain the general idea of cross-correlation functions and appropriate signal pattern generation. We will further explain the importance of synchronized clocks and discuss the problems arising from clock drifts. Finally, we describe an implementation using the Aibo ERS-7 as platform and briefly state basic results, including measurement accuracy and a runtime estimate. We will briefly discuss acoustic localization in the specific scenario of a RoboCup soccer game.},
}
@ARTICLE{2008_hemker_ijr,
author = {T. Hemker and H. Sakamoto and M. Stelzer and O. von Stryk},
title = {Efficient walking speed optimization of a humanoid robot},
journal = {International Journal of Robotics Research},
year = {2009},
volume = {28},
number = {2},
pages = {303 - 314},
month = {Feb.},
doi = {10.1177/0278364908095171},
url = {http://dx.doi.org/10.1177/0278364908095171},
pdf = {2009_hemker_ijr.pdf},
abstract = {The development of optimized motions of humanoid robots that guarantee a fast and also stable walking is an important task especially in the context of autonomous soccer playing robots in RoboCup. We present a walking motion optimization approach for the humanoid robot prototype HR18 which is equipped with a low dimensional parameterized walking trajectory generator, joint motor controller and an internal stabilization. The robot is included as hardware-in-the-loop to define a low dimensional black-box optimization problem. In contrast to previously performed walking optimization approaches we apply a sequential surrogate optimization approach using stochastic approximation of the underlying objective function and sequential quadratic programming to search for a fast and stable walking motion. This is done under the conditions that only a small number of physical walking experiments should have to be carried out during the online optimization process. For the identified walking motion for the considered 55 cm tall humanoid robot we measured a forward walking speed of more than 30 cm/sec. With a modified version of the robot even more than 40 cm/sec could be achieved in permanent operation.},
}
@ARTICLE{2009:IJRR-Seyfarthetal,
author = {A. Seyfarth and R. Tausch and M. Stelzer and F. Iida and A. Karguth and O. von Stryk},
title = {Towards bipedal jogging as a natural result for optimizing walking speed for passively compliant three-segmented legs},
journal = {International Journal of Robotics Research},
year = {2009},
volume = {28},
number = {2},
pages = {257-265},
note = {see also the video},
pdf = {2009-Seyfarthetal.pdf},
abstract = {Elasticity in conventionally built walking robots is an undesired side-eff ect that is suppressed as much as possible because it makes control very hard and thus complex control algorithms must be used. The human motion apparatus, in contrast, shows a very high degree of exibility with sufficient stability. In this research we investigate how compliance and damping can deliberately be used in humanoid robots to improve walking capabilities. A modular robot system consisting of rigid segments, joint modules and adjustable compliant cables spanning one or two joints is used to con figure a human-like biped. In parallel, a simulation model of the robot was developed and analyzed. Walking motion is gained by oscillatory out-of-phase excitations of the hip joints. An optimization of the walking speed has been performed by improving the viscoelastic properties of the leg and identifying the appropriate hip control parameters. A good match was found between real robot experiments and numerical simulations. At higher speeds, transitions from walking to running are found in both the simulation as well as in the robot.},
}
@PROCEEDINGS{2008:SIMPAR-Proc,
author = {},
title = {Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2008)},
year = {2008},
volume = {5325},
publisher = {Springer Verlag},
editor = {S. Carpin and I. Noda and E. Pagello and M. Reggiani and O. von Stryk},
series = {Lecture Notes in Artificial Intelligence},
url = {http://www.springer.com/computer+science/ai/book/978-3-540-89075-1},
abstract = {This book constitutes the refereed proceedings of the First International Conference on Simulation, Modeling, and Programming for Autonomous Robots, SIMPAR 2008, held in Venice, Italy, in November 2008. The 29 revised full papers and 21 revised poster papers presented were carefully reviewed and selected from 42 submissions. The papers address all current issues of robotics applications and simulation environments thereof, such as 3D robot simulation, reliability, scalability and validation of robot simulation, simulated sensors and actuators, offline simulation of robot design, online simulation with realtime constraints, simulation with software/hardware-in-the-loop, middleware for robotics, modeling framework for robots and environments, testing and validation of robot control software, standardization for robotic services, communication infrastructures in distributed robotics, interaction between sensor networks and robots, human robot interaction, and multirobot. The papers are organized in topical sections on simulation, programming, and applications.},
}
@INPROCEEDINGS{2008:SIMPAR-WS-Friedmann-etal,
author = {M. Friedmann and S. Petters and M. Risler and H. Sakamoto and D. Thomas and O. von Stryk},
title = {New Autonomous, Four-Legged and Humanoid Robots for Research and Education},
year = {2008},
number = {ISBN 978-88-95872-01-8},
pages = {570-579},
month = {November 3-4},
editor = {Emanuele Menegatti},
address = {Venice (Italy)},
booktitle = {Workshop Proceedings of SIMPAR 2008, Intl. Conf. on Simulation, Modeling and Programming for Autonomous Robots},
url = {http://www.simpar-conference.org/},
pdf = {2008-SIMPAR-WS-Friedmann-etal.pdf},
abstract = {Prototype models of new, fully programmable, autonomous four-legged and humanoid robots are presented as powerful standard platforms for research and education. They are based on an open and modular concept for hardware and software and exhibit a multitude of interfaces, sensors and powerful motion capabilities.},
}
@INPROCEEDINGS{2008-Petters-etal-Testing-Simpar,
author = {S. Petters and D. Thomas and M. Friedmann and O. von Stryk},
title = {Multilevel testing of control software for teams of autonomous mobile robots},
year = {2008},
number = {5325},
pages = {183-194},
month = {November},
publisher = {Springer},
editor = {S. Carpin et al.},
series = {Lecture Notes in Artificial Intelligence},
booktitle = {Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2008)},
url = {http://dx.doi.org/10.1007/978-3-540-89076-8_20},
pdf = {2008-SIMPAR_PettersThomasFriedmannVonStryk.pdf},
abstract = {Developing control software for teams of autonomous mobile robots is a challenging task, which can be facilitated using frameworks with ready to use components. But testing and debugging the resulting system as teached in modern software engineering to be free of errors and tolerant to sensor noise in a real world scenario is to a large extend beyond the scope of current approaches. In this paper multilevel testing strategies using the developed frameworks RoboFrame and MuRoSimF are presented. Testing incorporating automated tests, online and offline analysis and software-in-the-loop (SIL) tests in combination with real robot hardware or an adequate simulation are highly facilitated by the two frameworks. Thus the efficiency of validation of complex real world applications is improved. In this way potential errors can be identified early in the development process and error situations in real world operations can be reduced significantly.},
}
@INPROCEEDINGS{pmi:2008,
author = {E. Abele and J. Bauer and S. Rothenbücher and M. Stelzer and O. von Stryk},
title = {Prediction of the Tool Displacement by Coupled Models of the Compliant Industrial Robot and the Milling Process},
year = {2008},
pages = {223-230},
month = {3-4 September},
address = {Hannover, Gemany},
booktitle = {Proceedings of the International Conference on Process Machine Interactions},
pdf = {2008-PMI_preprint.pdf},
}
@INPROCEEDINGS{radkhah:2008,
author = {K. Radkhah and T. Hemker and O. von Stryk},
title = {A Novel Self-Calibration Method for Industrial Robots Incorporating Geometric and Nongeometric Effects},
year = {2008},
pages = {864-869},
month = {Aug. 05 - Aug. 08},
address = {Takamatsu, Japan},
booktitle = {Proc. IEEE International Conference on Mechatronics and Automation (ICMA)},
url = {http://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=4798870&isnumber=4798708},
abstract = {We propose a novel problem formulation for the solution of the nonlinear least squares appearing in the static calibration of the parameters of an industrial robot with rotational joints. A further contribution of the presented work is the use of an extended forward kinematic model incorporating both geometric and nongeometric parameters. These novelties facilitate the use of industrial robots as measurement systems. Both the automobile and the general industry are interested in the use of highly accurate robots that can be deployed as measurement instruments, e.g. for noticing incorrectly welded points early in the production process. Existing approaches are disadvantageous because of (1) the use of additional external measurement systems, and (2) the difficult, time-consuming, and cost-intensive determination of the robot base. Instead of absolute measurement data, we make use of relative measurement data by means of a camera attached to the robot flange. In tests based on data generated from simulation of a real experimental setup, we obtain absolute accuracies after calibration better than $\pm$ \unit[100]{$\mu$m}. This work lays the foundations for a cost-minimal and effective realization of a robot as a measurement instrument. },
}
@TECHREPORT{2008:dd_tdp,
author = {M. Friedmann and K. Petersen and S. Petters and K. Radkhah and D. Thomas and O. von Stryk},
title = {Darmstadt Dribblers: Team Description for Humanoid KidSize League of RoboCup 2008},
year = {2008},
institution = {Technische Universität Darmstadt},
pdf = {2008-tdp-hum.pdf},
abstract = {This paper describes the hardware and software design of the kidsize humanoid robot systems of the Darmstadt Dribblers in 2008. The robots are used as a vehicle for research in control of locomotion and behavior of autonomous humanoid robots and robot teams with many degrees of freedom and many actuated joints. The Humanoid League of RoboCup provides an ideal testbed for such aspects of dynamics in motion and autonomous behavior as the problem of generating and maintaining statically or dynamically stable bipedal locomotion is predominant for all types of vision guided motions during a soccer game. A modular software architecture as well as further technologies have been developed for efficient and effective implementation and test of modules for sensing, planning, behavior, and actions of humanoid robots. },
}
@INPROCEEDINGS{2008:SIMPAR-FriedmannPetersenvonStryk,
author = {M. Friedmann and K. Petersen and O. von Stryk},
title = {Simulation of multi-robot teams with flexible level of detail},
year = {2008},
number = {5325},
pages = {29-40},
month = {November},
note = {Best Paper Award},
publisher = {Springer},
editor = {S. Carpin et al.},
series = {Lecture Notes in Artificial Intelligence},
address = {Venice, Italy},
booktitle = {Simulation, Modeling and Programming for Autonomous Robots (SIMPAR 2008)},
url = {http://dx.doi.org/10.1007/978-3-540-89076-8_7},
pdf = {2008-SIMPAR_FriedamnnPetersenVonStryk.pdf},
abstract = {A key methodology for the development of autonomous robots is testing using simulated robot motion and sensing systems. An important issue when simulating teams of heterogeneous autonomous robots is performance versus accuracy. In this paper the multi-robot-simulation framework (MuRoSimF) is presented which allows the flexible and transparent exchange and combination of the algorithms used for the simulation of motion and sensing systems of each individual robot in a scenario with individual level of realism. It has already been used successfully for the simulation of several types of legged and wheeled robots equipped with cameras and laser scanners. In this paper the core functionalities of MuRoSimF are presented. Existing algorithms for simulation of the robots’ motions are revised. Newly added features including the execution of the simulation on multi core CPUs and two different algorithms for the simulation of laser scanners are presented. The performance of these features is tested in an urban scenario using wheeled robots.},
}
@TECHREPORT{2008:RoboCup-TDP-GermanTeam,
author = {David Becker and Jörg Brose and Daniel Göhring and Matthias Jüngel and Max Risler and Thomas Röfer},
title = {GermanTeam 2008 - The German National RoboCup Team},
year = {2008},
institution = {DFKI Bremen, TU Darmstadt, HU Berlin},
pdf = {2008-tdp-GermanTeam.pdf},
}
@INPROCEEDINGS{cirpicme:2008,
author = {E. Abele and J. Bauer and C. Bertsch and R. Laurischkat and H. Meier and S. Reese and M. Stelzer and O. von Stryk},
title = {Comparison of Implementations of a Flexible Joint Multibody Dynamic System Model for an Industrial Robot},
year = {2008},
booktitle = {6th CIRP International Conference on Intelligent Computation in Manufacturing Engineering, 23-25 July, Naples, Italy},
pdf = {ICME2008_preprint.pdf},
}
@ARTICLE{wtonline2008,
author = {E. Abele and J. Bauer and M. Stelzer and O. von Stryk},
title = {Wechselwirkungen von Fräsprozess und Maschinenstruktur am Beispiel des Industrieroboters},
journal = {WT-online},
year = {2008},
pages = {733 - 737},
pdf = {2008-wtonline_preprint.pdf},
abstract = {Entwicklung von Modellkomponenten für eine Offlinekompensation der spanenden Bearbeitung mit Industrierobotern Industrieroboter werden bereits heute zur spanenden Bearbeitung eingesetzt. Die durch den Zerspanprozess hervorgerufenen Kräfte erzeugen sowohl eine statische Abdrängung als auch eine niederfrequente Schwingung des Fräswerkzeuges. Dies wirkt sich negativ auf die Bauteilqualität aus. Über eine Offlinekompensation der statischen Abdrängung vor der Fräsbearbeitung kann das Roboterprogramm entsprechend abgeändert werden, sodass der statische Fehler reduziert wird. Hierzu wird ein Strukturmodell des Roboters sowie die Modellierung des Fräsprozesses benötigt, welche im Folgenden vorgestellt werden. Interaction of the milling process and the machine structure in case of the industrial robot Industrial robots are already used for operations such as milling. Due to the milling process and its process forces a static displacement and a low frequent oscillation of the Tool Centre Point is induced. This has negative effects on the work piece quality. With an offline compensation of the static displacement, the robot program can be modified in order to reduce the static error. This implies a model of the robot structure and of the milling process which will be presented in this article.},
}
@INPROCEEDINGS{2008-Kropf-etal-MMULATOR,
author = {Matthias Kropff and Christian Reinl and Kim Listmann and Karen Petersen and Katayon Radkhah and Faisal Karim Shaikh and Arthur Herzog and Armin Strobel and Daniel Jacobi and Oskar von Stryk},
title = {MM-ulator: Towards a Common Evaluation Platform for Mixed Mode Environments},
year = {2008},
number = {5325},
pages = {41-52},
month = {November},
publisher = {Springer},
editor = {S. Carpin et al.},
series = {Lecture Notes in Artificial Intelligence},
booktitle = {Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR 2008)},
url = {http://www.springerlink.com/content/62ph40794m636833/?p=72406ae46a8d4364bc570589871af29d&pi=7},
pdf = {2008_SIMPAR_Kropf_etal.pdf},
abstract = {We investigate the interaction of mobile robots, relying on information provided by heterogeneous sensor nodes, to accomplish a mission. Cooperative, adaptive and responsive monitoring in Mixed-Mode Environments (MMEs) raises the need for multi-disciplinary research initiatives. To date, such research initiatives are limited since each discipline focusses on its domain specific simulation or testbed environment. Existing evaluation environments do not respect the interdependencies occurring in MMEs. As a consequence, holistic validation for development, debugging, and performance analysis requires an evaluation tool incorporating multi-disciplinary demands. In the context of MMEs, we discuss existing solutions and highlight the synergetic benefits of a common evaluation tool. Based on this analysis we present the concept of the MM-ulator: a novel architecture for an evaluation tool incorporating the necessary diversity for multi-agent hard-/software-in-the-loop simulation in a modular and scalable way.},
}
@INPROCEEDINGS{2008:Robotik2008-Klugetal,
author = {Sebastian Klug and Thomas Lens and Oskar von Stryk and Bernhard Möhl and Andreas Karguth},
title = {Biologically Inspired Robot Manipulator for New Applications in Automation Engineering},
year = {2008},
number = {2012},
month = {June 11-12},
publisher = {VDI Wissensforum GmbH},
series = {VDI-Berichte},
address = {Munich, Germany},
booktitle = {Proceedings of Robotik 2008},
pdf = {2008-Robotik2008-Klugetal.pdf},
owner = {FG SIM, TUD},
abstract = {The fast growing interest in flexible, versatile and mobile robotic manipulators demands for robots with inherent high passive safety suited for direct human-robot interaction. To gain access to these new applications in the field of automation engineering where close vicinity and direct cooperating with humans are required, the ""BioRob"" project demonstrates the applicability of a new biologically inspired, lightweight and elastic ""bionic"" robot manipulator specifically designed for safe human-robot interaction. This paper presents the mechanical design and controller structure used for the new demonstrators with up to four compliant joints. The advantages of the design and potential application areas for the manipulator are discussed.},
}
@INPROCEEDINGS{robotik2008_ptw_sim,
author = {M. Stelzer and O. von Stryk and E. Abele and J. Bauer and M. Weigold},
title = {High speed cutting with industrial robots: Towards model based compensation of deviations},
year = {2008},
pages = {143-146},
booktitle = {Proceedings of Robotik 2008, 11-12 June, Munich, Germany},
pdf = {robotik2008_sim_ptw_preprint.pdf},
}
@INPROCEEDINGS{2008:RislervonStryk,
author = {M. Risler and O. von Stryk},
title = {Formal behavior specification of multi-robot systems using hierarchical state machines in XABSL},
year = {2008},
month = {May 12-16},
address = {Estoril, Portugal},
booktitle = {AAMAS08-Workshop on Formal Models and Methods for Multi-Robot Systems},
pdf = {2008_RislerVonStryk.pdf},
abstract = {This paper presents the latest developments of the Extensible Agent Behavior Speci cation Language (XABSL), a modular and scalable tool for engineering complex multiagent behavior. It is based on hierarchical finite state machines. By the new extensions the development of cooperative multi agent behavior is supported through language elements which allow to conveniently specify how the state machines of multiple agents interact. Basic properties of XABSL are illustrated in direct comparison with Petri Net Plans and the COLBERT language using examples of basic robot behavior. More complex examples from robot soccer are used to illustrate the new extensions of XABSL. The complete system is available online on the XABSL website (http://www.xabsl.de).},
}
@INPROCEEDINGS{2008:ReinlRuhStolzenburgStryk,
author = {C. Reinl and F. Ruh and F. Stolzenburg and O. von Stryk},
title = {Multi-Robot Systems Optimization and Analysis Using MILP and CLP },
year = {2008},
month = {May 12-16},
address = {Estoril, Portugal},
booktitle = {AAMAS08-Workshop on Formal Models and Methods for Multi-Robot Systems},
pdf = {2008_ReinlRuhStolzenburgStryk.pdf},
abstract = {Formal methods for multi-robot system analysis, specially logic-based methods, operate on discrete models. Optimization methods for simultaneous trajectory and task allocation, namely mixed integer dynamic optimization, operate on hybrid dynamical models which take into account a model of the motion dynamics of the physical robot. In this paper, ongoing work towards a coherent treatment of both approaches is described. A benchmark problem from robot soccer is introduced and used as an illustrative example.},
}
@INCOLLECTION{2008:InsectMimetics-Moehl-etal,
author = {B. Möhl and S. Klug and T. Lens and O. von Stryk},
title = {Elasticity in insect wings: applications to compliant robot joints (in Japanese)},
year = {2008},
pages = {798- 806},
month = {October},
note = {ISBN-13: 978-4-86043-197-6},
publisher = {NTS Inc.},
editor = {M. Matsukaze},
series = {Advanced Biomimetics Series 3},
booktitle = {Insect Mimetics (in Japanese) 昆虫ミメティックス},
}
@INCOLLECTION{2008:StelzervonStryk,
author = {M. Stelzer and O. von Stryk},
title = {Walking, running and kicking of humanoid robots and humans},
year = {2008},
pages = {175-192 and 337},
publisher = {Springer Verlag},
editor = {M.H. Breitner and G. Denk and P. Rentrop},
booktitle = {From Nano to Space - Applied Mathematics Inspired by Roland Bulirsch},
pdf = {2008-Stelzer-vonStryk.pdf},
abstract = {In this paper key aspects and several methods for modeling, simulation, optimization and control of the locomotion of humanoid robots and humans are discussed. Similarities and differences between walking and running of humanoid robots and humans are outlined. The presented methods are different steps towards the ultimate goals of understanding and predicting human motion by validated simulation models and of developing humanoid robots with human like performance in walking and running. Numerical and experimental results are presented for model-based optimal control as well as for hardware-in-the-loop optimization of humanoid robot walking and for forward dynamics simulation and optimization of a human kicking motion.},
}
@ARTICLE{2008:IJHR-Friedmann-etal,
author = {M. Friedmann and J. Kiener and S. Petters and H. Sakamoto and D. Thomas and O. von Stryk},
title = {Versatile, high-quality motions and behavior control of a humanoid soccer robot},
journal = {International Journal of Humanoid Robotics},
year = {2008},
volume = {5},
number = {3},
pages = {417-436},
month = {September},
url = {http://www.worldscinet.com/cgi-bin/details.cgi?id=voliss:ijhr_0503&type=toc},
pdf = {2008_FriedmannKienerPettersThomasStrykSakamoto.pdf},
abstract = {Autonomous soccer games represent an extraordinary challenge for autonomous humanoid robots which must act fast and stable while carrying all needed onboard computers, sensors and batteries. In this paper, the development and system integration of hardware and software modules of the 55 cm tall, autonomous humanoid soccer robot Bruno is described to cope with this challenge. Altough based on a "minimalistic" design which only uses gyroscopes in the hip but not foot-ground contact sensors for control of balance, versatile and high-quality walking motions have been developed. Fast forward walking of about 1.5 km/h has been obtained using an efficient sequential surrogate optimization method and walking through uneven terrain with a newly designed passively compliant foot sole. Further modules of the software and control architecture which are needed for an adaptive selection of different motions and autonomous robot behavior are briefly described. Experimental results are reported which have been obtained under the conditions of a live competition. The robot"s hardware is mainly based on standard components which can therefore be easily adapted by new designers as no comparable, standard humanoid robot platforms are available.},
}
@ARTICLE{2007:OptEng-HemkerFowlervonStryk,
author = {T. Hemker and K.R. Fowler and M.W. Farthing and O. von Stryk},
title = {A mixed-integer simulation-based optimization approach with surrogate functions in water resources management},
journal = {Optimization and Engineering},
year = {2008},
volume = {9},
number = {4},
pages = {341-360},
month = {December},
doi = {10.1007/s11081-008-9048-0},
pdf = {2008_hemker_opte.pdf},
abstract = {Efficient and powerful methods are needed to overcome the inherent difficulties in the numerical solution of many simulation-based engineering design problems. Typically, expensive simulation codes are included as black-box function generators; therefore, gradient information that is required by mathematical optimization methods is entirely unavailable. Furthermore, the simulation code may contain iterative or heuristic methods, low-order approximations of tabular data, or other numerical methods which contribute noise to the objective function. This further rules out the application of Newton-type or other gradient-based methods that use traditional finite difference approximations. In addition, if the optimization formulation includes integer variables the complexity grows even further. In this paper we consider three different modeling approaches for a mixed-integer nonlinear optimization problem taken from a set of water resources benchmarking problems. Within this context, we compare the performance of a genetic algorithm, the implicit filtering algorithm, and a branch-and-bound approach that uses sequential surrogate functions. We show that the surrogate approach can greatly improve computational efficiency while locating a comparable, sometimes better, design point than the other approaches.},
}
@INPROCEEDINGS{2007:RCS-FriedmannPetersenvonStryk,
author = {M. Friedmann and K. Petersen and O. von Stryk},
title = {Tailored real-time simulation for teams of humanoid robots},
year = {2008},
volume = {5001},
pages = {425-432},
publisher = {Springer-Verlag},
editor = {U. Visser and F. Ribeiro and T. Ohashi and F. Dellaert},
series = {Lecture Notes in Computer Science/Artificial Intelligence},
address = {Berlin/Heidelberg},
booktitle = {RoboCup 2007: Robot Soccer World Cup XI},
doi = {http://www.springerlink.com/content/41251kv140217484/},
url = {http://www.springer.com/computer/artificial/book/978-3-540-68846-4},
pdf = {2007_RoboCupSymposium_FriedmannPetersenVonStryk_preprint.pdf},
abstract = {Developing and testing the key modules of autonomous humanoid soccer robots (e.g., for vision, localization, and behavior control) in software-in-the-loop (SIL) experiments, requires real-time simulation of the main motion and sensing properties. These include humanoid robot kinematics and dynamics, the interaction with the environment, and sensor simulation, especially the camera properties. To deal with an increasing number of humanoid robots per team the simulation algorithms must be very efficient. In this paper, the simulator framework MuRoSimF (Multi-Robot-Simulation-Framework) is presented which allows the flexible and transparent integration of different simulation algorithms with the same robot model. These include several algorithms for simulation of humanoid robot motion kinematics and dynamics (with O(n) runtime complexity), collision handling, and camera simulation including lens distortion. A simulator for teams of humanoid robots based on MuRoSimF is presented. A unique feature of this simulator is the scalability of the level of detail and complexity which can be chosen individually for each simulated robot and tailored to the requirements of a specific SIL test. Performance measurements are given for real-time simulation on a moderate laptop computer of up to six humanoid robots with 21 degrees of freedom, each equipped with an articulated camera.},
}
@INPROCEEDINGS{radkhah:2007,
author = {K. Radkhah and D. Kulic and E. Croft },
title = {Dynamic Parameter Identification for the CRS A460 Robot},
year = {2007},
pages = {3842 - 3847},
month = {Oct. 29 - Nov. 2},
address = {San Diego, CA},
booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems},
url = {http://ieeexplore.ieee.org/Xplore/login.jsp?url=http%3A%2F%2Fieeexplore.ieee.org%2Fiel5%2F4398943%2F4398944%2F04399314.pdf%3Farnumber%3D4399314&authDecision=-203},
pdf = {2007_iros_rdkhh_preprint.pdf},
abstract = {Dynamic Parameter Identification is a useful tool for developing and evaluating robot control strategies. However, a multi degree of freedom robot arm has many parameters, and the process of determining them is challenging. Much research has been done in this area and experimental methods have been applied on several robot arms. To our knowledge, there is currently no set of inertial parameters, either by modelling or by estimation, available for the CRS A460/A465 arm, a popular laboratory table top robot. In this paper we review and compare a number of methods for dynamic parameter identification and for generating trajectories suitable for estimating the identifiable dynamic parameters of a given robot. We then present a step by step process for dynamic parameter identification of a serial manipulator, and demonstrate this process by experimentally identifying the dynamic parameters of the CRS A460 robot.},
}
@INPROCEEDINGS{2007:RCS-JuengelRisler,
author = {Matthias Jüngel and Max Risler},
title = {Self-Localization Using Odometry and Horizontal Bearings to Landmarks},
year = {2007},
note = {to appear},
publisher = {Springer},
editor = {U. Visser and F. Ribeiro and T. Ohashi and F. Dellaert},
series = {Lecture Notes in Artificial Intelligence},
booktitle = {RoboCup 2007: Robot Soccer World Cup XI},
pdf = {2007-RCS-JuengelRisler.pdf},
}
@INPROCEEDINGS{2007:FriedmannPetersenVonStryk_WsHumSoc,
author = {M. Friedmann and K. Petersen and O. v. Stryk},
title = {Adequate Motion Simulation and Collision Detection for Soccer Playing Humanoid Robots},
year = {2007},
month = {Nov. 29 - Dec. 1},
address = {Pittsburgh, PA, USA},
booktitle = {Proc. 2nd Workshop on Humanoid Soccer Robots at the 2007 IEEE-RAS Int. Conf. on Humanoid Robots},
url = {http://www.humanoidsoccer.org/ws07/program.html},
pdf = {2007-HumanoidsWSHumSoccer-FPvS.pdf},
abstract = {In this paper a humanoid robot simulator built with the Multi-Robot-Simulation-Framework (MuRoSimF) is presented. Among the unique features of the this simulator is the scalability in the level of physical detail in both the robot’s motion and sensing systems. It facilitates the development of control software for humanoid robots which is demonstrated for several scenarios from the RoboCup Humanoid Robot League. Different requirements exist for a humanoid robot simulator. E.g., testing of algorithms for motion control and postural stability require high fidelity of physical motion properties where as testing of behavior control and role distribution for a robot team requires only a moderate level of detail for real-time simulation of multiple robots. To meet such very different requirements often different simulators are used which makes it neccessary to model a robot multiple times and to integrate different simulations with high-level robot control software. MuRoSimF provides the capability of exchanging the simulation algorithms used for each robot transparently, thus allowing a trade-off between computational performance and fidelity of the simulation. It is therefore possible to choose different simulation algorithms which are adequate for the needs of a given simulation experiment, for example, motion simulation of humanoid robots based on kinematical, simplified dynamics or full multibody system dynamics algorithms. In this paper the sensor simulation capabilities of MuRoSimF are revised and the algorithms for motion simulation and collision detection and handling are presented in detail. An algorithm is presented which allows the real time simulation of the full dynamics of a 21 DOF humanoid robot. Special consideration is given to the merits and drawbacks of the different algorithms depending on the scenario. The simulation’s performance is measured and comparisons with the experimental performance of the humanoid robots are given.},
}
@TECHREPORT{2007:RoboCup-TDP-GermanTeam,
author = {T. Röfer and J. Brose and D. Göhring and M. Jüngel and T. Laue and M. Risler},
title = {GermanTeam 2007 - The German National RoboCup Team},
year = {2007},
institution = {DFKI Bremen, TU Darmstadt, HU Berlin, Universität Bremen},
pdf = {2007-tdp-GermanTeam.pdf},
}
@ARTICLE{hemker_et_al_2008,
author = {T. Hemker and H. De Gersem and O. von Stryk and T. Weiland},
title = {Mixed-Integer Nonlinear Design Optimization of a Superconductive Magnet},
journal = {IEEE Transactions on Magnetics},
year = {2007},
volume = {44},
number = {6},
pages = {1110-1113},
month = {June},
pdf = {2007_hemker_ieee_tm.pdf},
abstract = {The numerical optimization of continuous parameters in electrotechnical design using electromagnetic field simulation is already standard. When integer-valued variables are involved, the complexity of the optimization problem rises drastically. In this paper, we describe a new sequential surrogate optimization approach for simulation-based mixed-integer nonlinear programming problems. We apply the method for the optimization of combined integer- and real-valued geometrical parameters of the coils of a superconductive magnet.},
}
@INPROCEEDINGS{2007:IROS-WS-Architectures-PettersThomasvonStryk,
author = {S. Petters and D. Thomas and O. von Stryk},
title = {RoboFrame - A Modular Software Framework for Lightweight Autonomous Robots},
year = {2007},
month = {Oct. 29},
address = {San Diego, CA, USA},
booktitle = {Proc. Workshop on Measures and Procedures for the Evaluation of Robot Architectures and Middleware of the 2007 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems},
url = {http://wiki.robot-standards.org/index.php/IROS_2007_WS},
pdf = {2007-iros-workshop-pettersthomasvonstryk.pdf},
abstract = {The complexity of autonomous robot systems has increased dramatically in recent years. Besides an increased variety of robots, sensors, actuators, onboard computers and intelligent algorithms, the architecture of the software has gained crucial relevance with respect to the efficiency for adopting a robotic system to new hardware, new software or new tasks. For evaluation of different robot architectures and middleware not only a set of set of evaluation criterias is required. At least equally important for an evaluation is to define a representative set of the boundary conditions, i.e., different types of robots, tasks and scenarios as well as robot programmers. How the different criteria of an evaluation will be weighted also depends on these boundary conditions. To address the special needs of heterogeneous teams of autonomous lightweight robots, the software framework RoboFrame has been developed. Its main characteristics are platform independency, modularity and high efficiency. It is also bundled with a library of common components for robot control software, which provides much more support to the robot programmer than a robot middleware system alone. },
}
@INPROCEEDINGS{2007:ReinlVonStryk_RoboMat,
author = {C. Reinl and O. von Stryk},
title = {Optimal Control of Cooperative Multi-Robot Systems Using Mixed-Integer Linear Programming},
year = {2007},
pages = {145 - 151},
month = {Sept. 17-19},
editor = {Centro Internacional de Mathematica},
address = {Coimbra, Portugal},
booktitle = {Proc. RoboMat 2007},
url = {http://labvis.isr.uc.pt/robomat/},
pdf = {2007-ReinlVonStryk_ROBOMAT.pdf},
abstract = {A new planning method for optimal control of multi-robot systems is discussed which accounts for the (continuous) physical locomotion dynamics of the robots and its tight coupling to the distribution and allocation of (discrete) subtasks to the robots to fulfill a joint mission. The point of departure is a nonlinear and nonconvex hybrid optimal control problem (HOCP) formulation which incorporates a detailed hybrid automaton model. Because of the many difficulties involved in solving this problem like large computational times and the lack of good or global convergence properties it is transcribed into a mixed- integer linear program (MILP). This can be solved much more efficiently using existing algorithms. The proposed approach is outlined for an example problem of cooperative soccer robots. The MILP solution itself may serve either as a good initial solution estimate for a method addressing the nonlinear HOCP or may later become the kernel of a model predictive control method for cooperative multi-robot systems. Despite the promising results obtained so far a variety of open questions yet remains to be answered including the ”best” way of transcribing HOCP to MILP with respect to both computational efficiency and good HOCP solution approximation. },
}
@INPROCEEDINGS{2007:AMS-Friedmannetal,
author = {M. Friedmann and S. Petters and M. Risler and H. Sakamoto and D. Thomas and O. von Stryk},
title = {A new, open and modular platform for research in autonomous four-legged robots},
year = {2007},
pages = {254 - 260},
month = {18 - 19 Oct.},
publisher = {Springer Verlag},
editor = {K. Berns and T. Luksch},
series = {Informatik aktuell},
address = {Kaiserslautern},
booktitle = {Autonome Mobile Systeme 2007},
pdf = {2007_AMS_Friedmann_EtAl_preprint.pdf},
abstract = {In this paper the design goals for a new, open and modular, four-legged robot platform are described that was developed in reaction to the open call for a standard platform issued by the RoboCup Federation in 2006. The new robot should have similar motion and sensing capabilities like the previously used Sony AIBO plus several new ones. The hardware and software should be open, modular and reconfigurable. The robot should be resonably priced and allow annually upgrades.},
}
@INPROCEEDINGS{2007:IROS-Kiener-vonStryk,
author = {J. Kiener and O. von Stryk},
title = {Cooperation of heterogeneous, autonomous robots: A case study of humanoid and wheeled robots},
year = {2007},
pages = {959-964},
month = {Oct. 29 - Nov. 2},
address = {San Diego, CA, USA},
booktitle = {Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pdf = {2007-IROS-KienervonStryk.pdf},
abstract = {In this paper we present a case study of cooperation of a strongly heterogeneous robot team, composed of a highly articulated humanoid robot and a wheeled robot with largely complementing and some competing capabilities. By combining two strongly heterogeneous robots the diversity of accomplishable tasks increases as the variety of sensors and actuators in the robot systems is extended compared with a team consisting of homogeneous robots. The scenario describes a tightly cooperative task, where the humanoid robot and the wheeled robot follow for a long distance a ball, which is kicked finally by the humanoid robot into a goal. The task can be fulfilled successfully by combining the abilities of both robots. For task distribution and allocation, a newly developed objective function is presented which is based on a proper modeling of the sensing, perception, motion and onboard computing capabilities of the cooperating robots. Aspects of reliability and fault tolerance are considered.},
}
@INPROCEEDINGS{2007:ReinlVonStryk_ROBOCOMM,
author = {Christian Reinl and Oskar von Stryk},
title = {Optimal Control of Multi-Vehicle Systems Under Communication Constraints Using Mixed-Integer Linear Programming},
year = {2007},
month = {Oct. 15-17},
address = {Athens, Greece},
booktitle = {Proceedings of the. First International Conference on Robot Communication and Coordination (RoboComm)},
keywords = {connectivity network, mobile communication network, linearized optimal control, mixed-integer linear optimal control, cooperative multi-vehicle system},
pdf = {2007-ReinlVonStryk_ROBOCOMM.pdf},
abstract = {A new planning method for optimal cooperative control of heterogeneous multi-vehicle systems is investigated which enables to account for each vehicle’s nonlinear physical motion dynamics in a structured environment as well as for connectivity constraints of wireless communication. A general formulation as nonlinear hybrid optimal control problem (HOCP) is presented. A transformation technique is proposed to reduce the large computational efforts for solving HOCPs towards a future online application of this approach. Hereby the general problem is transcribed to a linearized mixed-integer linear programming problem (MILP) which can be solved much more efficiently. The proposed approach is successfully applied to the numerical solution of a representative, cooperative monitoring problem involving heterogeneous vehicles and conditions.},
}
@TECHREPORT{2007:RoboCup-TDP-Dribblers,
author = {M. Friedmann and J. Kiener and S. Petters and D. Thomas and O. von Stryk},
title = {Darmstadt Dribblers: Team Description for Humanoid KidSize League of RoboCup 2007},
year = {2007},
note = {11 pages},
institution = {Technisch Universität Darmstadt},
pdf = {2007-tdp-hum.pdf},
abstract = {This paper describes the hardware and software design of the kidsize humanoid robot systems of the Darmstadt Dribblers in 2007. The robots are used as a vehicle for research in control of locomotion and behavior of autonomous humanoid robots and robot teams with many degrees of freedom and many actuated joints. The Humanoid League of RoboCup provides an ideal testbed for such aspects of dynamics in motion and autonomous behavior as the problem of generating and maintaining statically or dynamically stable bipedal locomotion is predominant for all types of vision guided motions during a soccer game. A modular software architecture as well as further technologies have been developed for efficient and effective implementation and test of modules for sensing, planning, behavior, and actions of humanoid robots.},
}
@INPROCEEDINGS{2007:Compumag-Hemkeretal,
author = {T. Hemker and O. von Stryk and H. De Gersem and T. Weiland},
title = {Simulation-based design improvement of a superconductive magnet by mixed-integer nonlinear surrogate optimization},
year = {2007},
pages = {449-450},
month = {June 24-28},
address = {Aachen, Germany},
booktitle = {16th Intl. Conf. on the Computation of Electromagnetic Fields - Compumag 2007},
pdf = {2007_hemker_compumag.pdf},
abstract = {The numerical optimization of continuous parameters in electrotechnical design using electromagnetic field simulation is already standard. In this paper, we describe a new sequential surrogate optimization approach for simulation-based mixed-integer nonlinear programming problems. We apply the method for the optimization of combined integer- and real-valued geometrical parameters of the coils of a superconductive magnet.},
}
@INPROCEEDINGS{2007:AIM-Kratzetal,
author = {R. Kratz and M. Stelzer and M. Friedmann and O. von Stryk},
title = {Control approach for a novel high power-to-weight ratio SMA muscle scalable in force and length},
year = {2007},
pages = {to appear},
month = {September 4-7},
address = {Zürich, CH},
booktitle = {IEEE/ASME Intl. Conf. on Advanced Intelligent Mechatronics (AIM)},
pdf = {2007-AIM-Kratz-etal.pdf},
abstract = {The development of a control approach for a novel, soundless, lightweight and multifunctional shape memory alloy (SMA) actuator scalable in force and length for personal assistance or home-help robots is presented in this paper. The SMA actuator is based on lightweight bundles of thin wires of prestrained shape memory alloy that change their length when heated above their transformation temperature. The design approach of the actuator allows arranging the point of actuation in any direction and ensures a short cool down time to guarantee a frequency of contraction/stress cycles that is high enough to allow fast joint motions. This is needed for the generation of fast joint motions. For the use of the actuator the novel control approach has been experimentally validated. The approach uses the resistance of the actuator as a linear position encoder and there are no additional external sensors needed. The application of the new actuator to a novel lightweight humanoid robot is outlined. One advantage of the actuator over electric motors lies in the large variety of user-defined points of actuation of the in pull-force and length free scalable actuators and the high power-to-weight ratio. The results demonstrate that it is possible to build a large humanoid robot actuated with SMA actuator in a new way.},
}
@INPROCEEDINGS{biomed:2006,
author = {M. Stelzer and O. von Stryk},
title = {Human Kicking Motion Using Efficient Forward Dynamics Simulation and Optimization},
year = {2007},
volume = {15},
pages = {192--196},
publisher = {Springer, Berlin},
editor = {F. Ibrahim and N. A. Abu Osman and J. Usman and N. A. Kadri},
booktitle = {3rd Kuala Lumpur International Conference on Biomedical Engineering 2006: Biomed 2006, 11-14 December 2006, Kuala Lumpur, Malaysia},
doi = {10.1007/978-3-540-68017-8},
pdf = {biomed2006_preprint.pdf},
}
@TECHREPORT{2006:RoboCup-TDP-GermanTeam,
author = {Thomas Röfer and Jörg Brose and Eike Carls and Jan Carstens and Daniel Göhring and Matthias Jüngel and Tim Laue and Tobias Oberlies and Sven Oesau and Max Risler and Michael Spranger and Christian Werner and Jörg Zimmer},
title = {GermanTeam 2006 - The German National RoboCup Team},
year = {2006},
institution = {DFKI Bremen, Universität Bremen, TU Darmstadt, HU Berlin},
pdf = {2006-tdp-GermanTeam.pdf},
}
@INPROCEEDINGS{icmmb:2006,
author = {M. Stelzer and O. von Stryk},
title = {Applications of Efficient Forward Dynamics Simulation in Biomechanics},
year = {2006},
booktitle = {Proceedings of the XVth International Conference on Mechanics in Medicine and Biology, Singapore},
pdf = {icmmb2006_preprint.pdf},
}
@INPROCEEDINGS{2006:HumanoidsSoccerWS-DarmstadtDribblersandHajimeTeam,
author = {M. Friedmann and J. Kiener and S. Petters and H. Sakamoto and D. Thomas and O. von Stryk},
title = {Versatile, high-quality motions and behavior control of humanoid soccer robots},
year = {2006},
pages = {9-16},
month = {Dec. 4-6},
address = {Genoa, Italy},
booktitle = {Proc. Workshop on Humanoid Soccer Robots of the 2006 IEEE-RAS Int. Conf. on Humanoid Robots},
url = {http://www.dei.unipd.it/~emg/whs2006/schedule.html},
pdf = {2006-HumanoidsHSR-WS-DarmstadtDribblersandHajimeTeam.pdf},
abstract = {Many different and high-quality humanoid otions have been developed based on a tailored, 55cm tall humanoid robot kinematics and design using 21 servo motors and inertial sensors for stabilization. These include fast forward walking of about 1.5 km/h in permanent operation, multidirectional walking capabilities, a variety of standard and spectacular kicks, standing up motions as well as motions displaying an emotional state of the robot. While all robot motions are executed in real-time on a controller board an adaptive selection of different motions and autonomous robot behavior are controlled by hierarchical state machine executed on an onboard Pocket PC. Information about the current state of the dynamic environment in a soccer game is obtained from two directed cameras with wide and narrow angles. During RoboCup 2006 the robot demonstrated the fastest walking of all kid- and teen-size humanoid robots on regular terrain as well as in the rough terrain challenge. Also a large variety of different motions as well as individual and team behaviors during successful autonomous soccer games have been demonstrated including the scoring of a goal with the first autonomously performed backheel kick of a humanoid robot.},
}
@INPROCEEDINGS{2006:ROBIO-Friedmannetal,
author = {M. Friedmann and J. Kiener and S. Petters and D. Thomas and O. von Stryk},
title = {Modular software architecture for teams of cooperating, heterogeneous robots},
year = {2006},
pages = {613-618},
month = {December 17-20},
address = {Kunming, China},
booktitle = {Proc. IEEE International Conference on Robotics and Biomimetics (ROBIO)},
pdf = {2006-Friedmann_etal_ROBIO_preprint.pdf},
abstract = {For teams of cooperating autonomous lightweight robots with challenging dynamical locomotion properties a platform independent modular software architecture and platform independent modules for sensor data processing, planning and motion control have been developed. The software architecture allows high level communication between modules on different abstraction levels of the control architecture within one robot system as well as communication between different and heterogeneous robots and computers using wireless network. Very different behavior control paradigms may be realized on the basis of the developed architecture. The application to teams of cooperating small and medium size humanoid robots is investigated in this paper. Scenarios for inter robot communication and cooperative task accomplishment are described.},
}
@INPROCEEDINGS{2006:ROBIO-Kratzetal,
author = {R. Kratz and S. Klug and M. Stelzer and O. von Stryk},
title = {Biologically inspired reflex based stabilization control of a humanoid robot with artificial {SMA} muscles},
year = {2006},
pages = {1089-1094},
month = {December 17-20},
address = {Kunming, China},
booktitle = {Proc. IEEE International Conference on Robotics and Biomimetics (ROBIO)},
pdf = {preprint_robio_2006.pdf},
abstract = {Suddenly occurring collisions or unintentional motions represent a high safety risk in robotics and must be prevented. Especially for humanoid robots, the influence of disturbances that occur unexpectedly during bipedal locomotion are difficult to compensate. A model based online control approach for stabilization of a humanoid robot with many degrees of freedom may require too much time for computing and implementing an adequate compensating motion. In addition, such a control approach usually requires accurate sensor information about the type and magnitude of the disturbance. The goal of the present paper is a reflex based online stabilization control of a humanoid robot actuator based on artificial SMA muscles. The design of a humanoid robot actuated with SMA muscles allows a lightweight robot design and simplifies the direct implementation of reflexes. The reflex that is integrated into the robot depends on an evaluation of the pressure distribution of the feet. An instable position of the center of mass of the robot leads to a known specific pressure disturbance that should be avoided. The experiments show that the implementation of a reflex for the actuators in the calf leads to a stabilization of the entire robot. Additional reflexes are required when the strength or speed of disturbances are increased, such as in the upper leg or arms.},
}
@ARTICLE{2006:ZAMM_Stelzer_vonStryk,
author = {Maximilian Stelzer and Oskar von Stryk},
title = {Efficient Forward Dynamics Simulation and Optimization of Human Body Dynamics},
journal = {ZAMM, Zeitschrift für Angewandte Mathematik und Mechanik, Journal of Applied Mathematics and Mechanics},
year = {2006},
volume = {86},
number = {10},
pages = {828-840},
keywords = {Forward dynamics simulation, forward dynamics optimization, multibody systems, optimal control, biomechanics, human motion},
pdf = {2006-Stelzer-vonStryk-ZAMM_pre.pdf},
abstract = {The modeling of the time dependent, dynamic behavior of the human musculoskeletal system results in a large scale mechanical multibody system. This consists of submodels for the skeleton, wobbling masses, muscles and tendons as redundant actuators. Optimization models are required for the simulation of the muscle groups involved in a motion. In contrast to the inverse dynamics simulation the forward dynamics simulation enables to consider very general problem statements in principle. The paper presents a new approach to the forward dynamics simulation and optimization of human body dynamics which overcomes the enormous computational cost of current approaches for solving the resulting optimal control problems. The presented approach is based on a suitable modeling of the dynamics of the musculoskeletal system in combination with a tailored direct collocation method for optimal control. First numerical results for a human kick demonstrate an improvement in computational time of two orders of magnitude when compared to standard methods.},
}
@INCOLLECTION{2006:BionikGothavonStryk,
author = {O. von Stryk},
title = {Ihr intelligenter 'Personal Robot' im Jahr 2050: Haushaltshilfe, Terminator oder Fußballspieler?},
year = {2006},
pages = {48-50},
publisher = {Stiftung Schloss Friedenstein Gotha},
editor = {Museum der Natur Gotha},
address = {Gotha, Germany},
booktitle = {Bionik - Vom Ursaurier zum laufenden Roboter},
}
@INPROCEEDINGS{2006:IROSLoetzschRislerJuengel,
author = {M. Lötzsch and M. Risler and M. Jüngel},
title = {XABSL - A Pragmatic Approach to Behavior Engineering},
year = {2006},
pages = {5124-5129},
month = {October 9-15},
address = {Beijing, China},
booktitle = {Proceedings of IEEE/RSJ International Conference of Intelligent Robots and Systems (IROS)},
pdf = {2006-IROSLoetzschRislerJuengel.pdf},
abstract = {This paper introduces the Extensible Agent Behavior Specification Language (XABSL) as a pragmatic tool for engineering the behavior of autonomous agents in complex and dynamic environments. It is based on hierarchies of finite state machines (FSM) for action selection and supports the design of longterm and deliberative decision processes as well as of short-term and reactive behaviors. A platform-independent execution engine makes the language applicable on any robotic platform and together with a variety of visualization, editing and debugging tools, XABSL is a convenient and powerful system for the development of complex behaviors. The complete source code can be freely downloaded from the XABSL website (http://www.informatik.huberlin.de/ki/XABSL/). The language has been successfully applied on many robotic platforms, mainly in the domain of RoboCup robot soccer. It gave the GermanTeam the crucial advantage over other teams to become the 2004 and 2005 world champion in the Four-Legged League and helped the team CoPS Stuttgart to become third in the Middle Size League in 2004.},
}
@INPROCEEDINGS{2006:IFAC-MVS-Friedmann-etal,
author = {M. Friedmann and J. Kiener and S. Petters and D. Thomas and O. von Stryk },
title = {Reusable architecture and tools for teams of lightweight heterogeneous robots},
year = {2006},
pages = {51-56},
month = {October 2-3},
address = {Salvador, Brazil},
booktitle = {Proc. 1st IFAC Workshop on Multivehicle Systems},
pdf = {2006-IFAC-MVS-FriedmannKienerPettersThomasvonStryk.pdf},
abstract = {The software framework RoboFrame has been designed to meet the special requirements for teams of lightweight autonomous heterogeneous robot systems. Due to platform abstraction and modern object oriented design, it allows the reuse of components of common robot control software. It can also efficiently be implemented on new platforms and enables different control architectures for different tasks. For the exemplary application in autonomous robot soccer teams configurable and portable algorithms for vision, world modeling, behavior and motion control have been developed on top of the framework. For debugging, controlling and monitoring, an extendable graphical user interface and a generic simulator package have been implemented around the framework. Based on these instruments, different applications for homogeneous and heterogeneous robot teams can be realized in short time.},
}
@INPROCEEDINGS{2006:IFAC-MVS-GlockerReinlvonStryk,
author = {M.Glocker and C. Reinl and O. von Stryk},
title = {Optimal task allocation and dynamic trajectory planning for multi-vehicle systems using nonlinear hybrid optimal control},
year = {2006},
pages = {38-43},
month = {October 2-3},
address = {Salvador, Brazil},
booktitle = {Proc. 1st IFAC-Symposium on Multivehicle Systems},
pdf = {2006-IFAC-MVS-GlockerReinlvonStryk.pdf},
abstract = {Based on a nonlinear hybrid dynamical systems model a new planning method for optimal coordination and control of multiple unmanned vehicles is investigated. The time dependent hybrid state of the overall system consists of discrete (roles, actions) and continuous (e.g. position, orientation, velocity) state variables of the vehicles involved. The evolution in time of the system’s hybrid state is described by a hybrid state automaton. The presented approach enables a tight and formal coupling of discrete and continuous state dynamics, i.e. of dynamic role and action assignment and sequencing as well as of the physical motion dynamics of a single vehicle modeled by nonlinear differential equations. The planning problem of determining optimal hybrid state trajectories that minimize a cost function as time or energy for optimal multi-vehicle cooperation subject to constraints including the vehicle’s motion dynamics is transformed to a mixed-binary dynamic optimization problem being solved numerically. The numerical method consists of an inner iteration where multiphase optimal control problems are solved using a direct collocation method and an outer iteration based on a branch-and-bound search of the discrete solution space. The approach presented in this paper is applied to the scenarios of optimal simultaneous waypoint or target sequencing and dynamic trajectory planning for a team of unmanned aerial vehicles in a plane and to optimal role assignment and physics-based trajectories in robot soccer.},
}
@INPROCEEDINGS{2006:CLAWARHemkeretal,
author = {T. Hemker and H. Sakamoto and M. Stelzer and O. von Stryk},
title = {Hardware-in-the-loop optimization of the walking speed of a humanoid robot},
year = {2006},
pages = {614-623},
month = {September 11-14},
address = {Brussels, Belgium},
booktitle = {CLAWAR 2006: 9th International Conference on Climbing and Walking Robots},
pdf = {2006-Hemker_etal_CLAWAR_pre.pdf},
abstract = {The development of optimized motions of humanoid robots that guarantee a fast and also stable walking is an important task especially in the context of autonomous soccer playing robots in RoboCup. We present a walking motion optimization approach for the humanoid robot prototype HR18 which is equipped with a low dimensional parameterized walking trajectory generator, joint motor controller and an internal stabilization. The robot is included as hardware-in-the-loop to define a low dimensional black-box optimization problem. In contrast to previously performed walking optimization approaches we apply a sequential surrogate optimization approach using stochastic approximation of the underlying objective function and sequential quadratic programming to search for a fast and stable walking motion. This is done under the conditions that only a small number of physical walking experiments should have to be carried out during the online optimization process. For the identified walking motion for the considered $55$ cm tall humanoid robot we measured a forward walking speed of more than $30$ cm/sec. With a modified version of the robot even more than $40$ cm/sec could be achieved in permanent operation.},
}
@INPROCEEDINGS{2006:CLAWARSeyfarthetal,
author = {A. Seyfarth and R. Tausch and M. Stelzer and F. Iida and A. Karguth and O. von Stryk},
title = {Towards bipedal running as a natural result of optimizing walking speed for passively compliant three-segmented legs},
year = {2006},
pages = {396-401},
month = {September 12-14},
address = {Brussels, Belgium},
booktitle = {CLAWAR 2006: 9th International Conference on Climbing and Walking Robots},
pdf = {2006-Seyfarth_etal_CLAWAR_pre.pdf},
abstract = {Elasticity in conventionally built walking robots is an undesired side-effect that is oppressed as much as possible because it makes control very hard, and thus complex control algorithms must be used. The human motion apparatus, in contrast, shows a very high degree of flexibility with suffcient stability. In this research we investigate how elasticities and damping can sensibly be used in humanoid robots to improve walking capabilities. A modular robot system consisting of rigid segments, joint modules and adjustable elastic strings spanning one or more joints is used to configure a human-like biped. In parallel, a complex simulation model of the robot has been established. Walking motion is gained by oscillatory out-of-phase excitations of the hip joints. An optimization of the walking speed has been performed by improving the viscoelastic properties of the leg and identifying the appropriate hip control parameters. Experiments on the real robot very well matched the numerical results. At higher speeds, transitions from walking to running are found in both the simulation as well as in the robot.},
}
@INPROCEEDINGS{2006:IFACKratzStelzervStryk,
author = {R. Kratz and M. Stelzer and O. von Stryk},
title = {Macroscopic SMA wire bundle actuator/sensor system: design, measurement, control approach},
year = {2006},
month = {September 12-14},
address = {Heidelberg},
booktitle = {Proc. 4th IFAC-Symposium on Mechatronic Systems},
pdf = {preprint_mechatronics_2006.pdf},
}
@INCOLLECTION{2006:MoehlvonStryk-Bionikbuch,
author = {Bernhard Möhl and Oskar von Stryk},
title = {Menschen aus Stahl},
year = {2006},
pages = {174-180},
publisher = {Bionik Media},
editor = {K.G. Blüchel and F. Malik},
booktitle = {Faszination Bionik - Die Intelligenz der Schöpfung},
}
@INPROCEEDINGS{2006_hemker_CMWR,
author = {T. Hemker and K.R. Fowler and O. von Stryk},
title = {Derivative-Free Optimization Methods for Handling Fixed Costs in Optimal Groundwater Remediation Design},
year = {2006},
pages = {electronic resource},
month = {19-22 June},
editor = {P.J. Binning and P. Engesgaard and H. Dahle and G. Pinder and W.G. Gray},
booktitle = {Proc. of the CMWR XVI - Computational Methods in Water Resources},
pdf = {2006-Hemker_etal_CMWR_pre.pdf},
abstract = {Groundwater remediation design problems are routine in water resource management. The starting point for such a design problem is to formulate an objective function that represents a measure of the manager´s goal. For example, in plume migration control, we need to determine the cost to design a well field to alter the direction of groundwater flow and thereby control the destination of a contaminant. Constraints must be specified to ensure that the plume is captured, the physical domain is protected, and the wells operate under realistic conditions. Optimization algorithms must work in conjunction with groundwater flow and possibly contaminant transport simulators to determine the minimal cost well design subject to the constraints, but typically these numerical simulation codes have been developed for many years and have usually not been designed to meet the specific needs of optimization methods as, e.g., providing gradient information. Decision variables can be real-valued, in the case of pumping rates and well locations, or integer valued in the case of the number of wells in the design. In this work we focus on formulations that include a fixed installation cost as well as an operating cost, resulting in a simulation-based nonlinear mixed-integer optimization problem. The motivation is that our preliminary studies have shown that convergence to an unsatisfactory, local minimum with many wells operating at low pumping rates is common when the fixed cost is ignored. The challenge in the fixed cost formulation is the integer variable for the number of wells in the design. Removing a well from the design space leads to a large decrease in cost meaning optimizers must be equipped to either handle a mixed-integer or approximate mixed integer, black-box problem and discontinuities in the objective function. Moreover since evaluation of the objective function requires numerical results from a simulation, derivative information is unavailable. Gradient based optimization methods are not appropriate for these applications, hence methods that rely only on function values are more appealing. We compare three methods for handling the installation cost on a hydraulic capture benchmarking problem proposed in the literature. All the approaches described below do not use the gradient of the objective function, only function values for minimization. In one approach, we use penalty coefficients proposed in the literature for the installation term to transform the discontinuous problem into a continuous one. In another approach, we bypass including the number of wells as a decision variable by defining an inactive-well threshold. In the course of the optimization, if a well rate falls in this threshold, the well is removed from the design space, leading to large discontinuities in the objective function. For the two above formulations, we use the implicit filtering algorithm, a method which uses a sequence of finite difference gradients, for minimization. In the third approach, we use sequential stochastic modeling to build surrogate functions to approximate the original objective function. With this procedure the use of a branch and bound technique becomes possible to solve the mixed integer problem in contrast to methods working directly on the simulation results, which impedes relaxation of integer variables. We present promising preliminary numerical results on the benchmarking problem and point the way towards improvement and future work. },
}
@INPROCEEDINGS{2006:ACTUATORKratzStelzervonStryk,
author = {R. Kratz and M. Stelzer and O. von Stryk},
title = {Design, measurement experiments and application of a macroscopic shape memory alloy actuator system},
year = {2006},
month = {June 14-15},
address = {Bremen, Germany},
booktitle = {ACTUATOR 2006 - 10th International Conference on New Actuators},
pdf = {preprint_actuator_2006.pdf},
abstract = {Prestrainend shape memory alloys (SMA) change their length when heated above their transformation temperature. Based on this property various micro-technical actuators have been developed in the past. This paper presents the design of novel macroscopic SMA actuators scalable in force and length. Our design approach allows arranging the point of actuation in any direction and ensures a short cool down time to guarantee a high frequency of contraction/stress cycles. The use of the new actuator also necessitates a novel control approach. A model to describe the actuators behavior has been developed and experimentally validated. It offers the possibility of using the resistance of the actuator as a linear position encoder and provides a basis for the control approach of the actuator. The application to a new bipedal walking robot demonstrates one envisioned future use of the actuators. One advantage over electric motors lies in the large variety of user-defined points of actuation of the scalable actuators on a mechanical structure. This allows generating joint movements without the common restrictions holding for electric motors on the possible point of actuation. },
}
@INPROCEEDINGS{2006BioRob:KlugvonStrykMoehl,
author = {S. Klug and O. von Stryk and B. Möhl},
title = {Design and Control Mechanisms for a 3 DOF Bionic Manipulator},
year = {2006},
number = {210},
month = {February 20-22},
address = {Pisa, Italy},
booktitle = {Proc. 1st IEEE / RAS-EMBS Intl. Conf. on Biomedical Robotics and Biomechatronics (BioRob)},
url = {http://www.biorob.de},
pdf = {2006-BioRob-Klug-vonStryk-Moehl.pdf},
abstract = {Functionality and design of a bionic robot arm consisting of three joints driven by elastic and compliant actuators derived from biologically inspired principles are presented. In the first design standard springs with linear characteristics are utilized in combination with electrical drives. Different control approaches for the bionic robot arm are presented, discussed and evaluation in numerical simulations and experiments with regards to the long-term goal of a natural-like control perfomance.},
}
@INPROCEEDINGS{MATHMOD2006,
author = {R. Höpler and M. Stelzer and O. von Stryk},
title = {Object-Oriented Dynamics Modeling of Walking Robots for Model-Based Trajectory Optimization and Control},
year = {2006},
number = {30},
editor = {I. Troch and F. Breitenecker},
series = {ARGESIM Reports},
booktitle = {Proc. 5th MATHMOD Vienna, February 8-10},
pdf = {2006-MATHMOD.pdf},
abstract = {Modeling walking robot dynamics is an intricate subject when dealing with optimization and model based control. When modeled as multibody systems with a free floating base walking robots lead to high dimensional equation systems. Walking involves frequent changes in the kinematic structure due to varying contact situations. However, specialized algorithms that treat the contacts separately and thus can make use of the tree structure of the system can be used. This paper discusses the dynamics algorithms used and discusses the development and application of objectoriented modeling and implementation techniques to achieve a representation of the mechanical model amenable to the various requirements by legged robot applications. Optimal control techniques are involved to generate optimal walking trajectories of a biped and a quadruped robot. Numerical results are shown.},
}
@INPROCEEDINGS{2006_hemker_CEM,
author = {T. Hemker and M. Glocker and H. De Gersem and O. von Stryk and Th. Weiland},
title = {Mixed-integer simulation-based optimization for a superconductive magnet design},
year = {2006},
pages = {125-127},
month = {4-6 April},
booktitle = {Sixth International Conference on Computational Elektromagnetics, Proceedings, 4-6 April 2006 in Aachen},
organization = {VDE},
pdf = {2006-Hemker_etal_CEM_pre.pdf},
abstract = {The optimization of continuous parameters in electrotechnical designs using electromagnetic field simulation is already standard. Typically, the simulation tools only carry out evaluations of the objective function and do not provide gradient information. If in addition to continuous design parameters also integer design parameters have to be optimized, only computational expensive random search methods like genetic algorithms are well known. In this paper, we present a new sequential modeling approach to solve mixed-integer simulation-based optimiza-tion problems for an electrotechnical design problem for superconductive magnets. Each step of this approach uses stochastic modeling techniques to predict the simulation output by a surrogate function. The surrogate function treats the integer variables as real-valued ones. New promising parameter con-figurations are predicted by a “branch-and-bound” method, which solves the purely continuous subproblems by classical optimization methods for continuous and differentiable functions. The additional information of these simulation runs improves the quality of the surrogate function step by step. The proposed approach is applied to optimize the distribution of coil blocks and coil windings of a superconduc-tive magnet such that a maximal homogeneity of the magnetic field in the aperture is achieved.},
}
@TECHREPORT{2005:RoboCup-TDP-GermanTeam,
author = {Thomas Röfer and Ronnie Brunn and Stefan Czarnetzki and Marc Dassler and Matthias Hebbel and Matthias Jüngel and Thorsten Kerkhof and Walter Nistico and Tobias Oberlies and Carsten Rohde and Michael Spranger and Christine Zarges},
title = {GermanTeam 2005 - The German National RoboCup Team},
year = {2005},
institution = {Universität Bremen, TU Darmstadt, HU Berlin, Universität Dortmund},
pdf = {2005-tdp-GermanTeam.pdf},
}
@TECHREPORT{GT:2005,
author = {T. Röfer and T. Laue and M. Weber and H.-D. Burkhard and M. Jüngel and D. Göhring and J. Hoffmann and B. Altmeyer and T. Krause and M. Spranger and O. von Stryk and R. Brunn and M. Dassler and M. Kunz and T. Oberlies and M. Risler and U. Schwiegelshohn and M. Hebbel and W. Nistico and S. Czarnetzki and T. Kerkhof and M. Meyer and C. Rohde and B. Schmitz and M. Wachter and T. Wegner and C. Zarges},
title = {GermanTeam 2005},
year = {2005},
institution = {HU-Berlin, U-Bremen, TU-Darmstadt, U-Dortmund},
pdf = {2005-GermanTeamReport.pdf},
abstract = {The GermanTeam is a joint project of four German universities in the Four-Legged League. This report describes the software developed for the RoboCup 2005 in Osaka. It presents the software architecture of the system as well as the methods that were developed to tackle the problems of motion, image processing, object recognition, self-localization, and robot behavior. The approaches for both playing robot soccer and mastering the challenges are presented. In addition to the software actually running on the robots, this document will also give an overview of the tools the GermanTeam used to support the development process. The report serves as detailed documentation of the work that has been done and aims at enabling other researchers to make use of it. In an extensive appendix, several topics are described in detail, namely the installation of the software, how it is used, the implementation of inter-process communication, streams, and debugging mechanisms, and the approach of the GermanTeam to model the behavior of the robots.},
}
@INCOLLECTION{2005:SpringerVideoRettig-etal,
author = {U. Rettig and R. Bulirsch and O. von Stryk and R.H.W. Hoppe},
title = {Modeling, simulation and control of electrorheological fluid dampers},
year = {2005},
publisher = {Springer-Verlag},
editor = {H.-J. Bungartz, R.-P. Mundani, A.C. Frank},
series = {Springer VideoMATH},
type = {DVD, Video, PAL},
booktitle = {Bubbles, Jaws, Moose Tests, and More: The Wonderful World of Numerical Simulation},
abstract = {This video introduces the mathematical challenges in modeling, simulation and control of new continuously controllable shock absorbers based on electrorheological fluids (ERF) within automobiles. The basic mode of operation of an ERF is demonstrated by an experiment. Simulations demonstrate the interaction between controllable shock absorbers with a wide range of characteristics, the road and the multibody system of the motor vehicle. Mathematical questions considered during this project concern modeling, parameter estimation, optimal control and dynamic simulation. Parametric models predicting the dynamic behavior of the damper characteristics must be developed but also validated and calibrated by ERF flow simulations and experimental results. New optimal control strategies based on quarter car or half car models enable almost optimal use of the ERF shock absorbers with respect to dring safety and comfort. A well known driving maneuver, performed in three different configurations, demonstrates the innovative potential of optimally controlled ERF shock absorbers. The simulation is based on a full vehicle dynamics model augmented with the new ERF shock absorbers and the new optimal controllers, and it includes complex submodels not only for the vehicle"s multibody system, drive train, axle kinematics and tires but also for the driver and the road.},
}
@INPROCEEDINGS{ASIM:2005,
author = {R. Höpler and M. Stelzer and O. von Stryk},
title = {Object-oriented dynamics modeling for simulation, optimization and control of walking robots},
year = {2005},
pages = {588--593},
month = {September 12-15},
booktitle = {Proc. 18th Symposium on Simulation Technique, ASIM, Erlangen},
pdf = {2005-ASIM.pdf},
}
@INCOLLECTION{2005:GlockerMartinvonStryk,
author = {Markus Glocker and Alexander Martin and Oskar von Stryk},
title = {Optimale kooperative Steuerung von Mehrflugzeugsystemen},
year = {2005},
number = {3/2005},
pages = {14-18},
publisher = {Technische Universität Darmstadt},
editor = {Uwe Klingauf},
series = {thema Forschung},
address = {Darmstadt},
booktitle = {thema Forschung - Im Aufwind: Luftverkehr},
url = {http://www.tu-darmstadt.de/aktuell/thema-forschung/},
pdf = {2005-forschung03-a3.pdf},
abstract = {Die Untersuchung und Optimierung von Koordination und Flugtrajektorien zur Erhöhung von Kapazität und Sicherheit im Luftverkehr unter Berücksichtigung von Freiflugphasen und neuen Möglichkeiten der Flugregelung führt bei realitätsnaher Modellierung der Flugzeugdynamik auf eine gänzlich neue Klasse von diskret-kontinuierlichen dynamischen Optimierungsproblemen. Damit können die simultane Optimierung von Flugtrajektorien und Landereihenfolge bei Flughäfen ebenso beschrieben werden wie die Koordination und Trajektorienoptimierung einer Flotte unbemannter Flugsysteme zur Verkehrsüberwachung oder Aufklärung bei Katastrophen. Erste Ansätze für numerische Berechnungsverfahren werden diskutiert und an Beispielen illustriert.},
}
@INPROCEEDINGS{2005:ButzEhmann,
author = {T. Butz and M. Ehmann},
title = {Virtuelle Rundenzeitoptimierung mittels realistischer Rennfahrzeugsimulation},
year = {2005},
month = {13.-14. Oktober 2005},
publisher = {TÜV Süd Gruppe},
address = {Garching},
booktitle = {Proc. race.tech},
pdf = {2005-racetech_Butz_Ehmann.pdf},
abstract = {Der Einsatz von maßeschneiderten Fahrdynamik-Simulationspaketen ist Stand der Technik bei der Entwicklung von Rennfahrzeugen. Neben dem virtuellen Prototypenbau können schnelle Simulationsmodelle zu Konzeptuntersuchungen und zur Optimierung einzelner Fahrzeugkomponenten dienen. Die Entwicklung von Fahrdynamikreglern wird während des gesamten Entwicklungszyklus unterstützt, vom ersten Entwurf des Regelalgorithmus bis hin zu Funktionstests und Abstimmung des Steuergeräts in Echtzeitumgebungen, wo eine Implementierung des Reglers in Software oder Hardware mittels Sensoren und Aktuatoren mit der Vollfahrzeugsimulation verbunden ist. Zur Simulation der Rennfahrzeugdynamik wird neben einem präisen physikalischen Fahrzeugmodell ein Fahrermodell benötigt, das das virtuelle Fahrzeug im fahrdynamischen Grenzbereich präzise langs zeitoptimaler Führungsgrößen für die Ideallinie und das Geschwindigkeitsprofil führen kann. In diesem Beitrag wird eine Strategie zur Rundenzeitoptimierung vorgestellt, in der eine näherungsweise optimale Startlösung für die Sollgeschwindigkeit durch den Einsatz von nichtlinearen Optimierungsverfahren iterativ verbessert wird. Ergebnisse der Optimierung und die Grenzen der Vorgehensweise werden diskutiert.},
}
@INPROCEEDINGS{kiener05,
author = { Jutta Kiener and Sebastian Petters and Dirk Thomas and Martin Friedmann und Oskar von Stryk},
title = {Architektur und Komponenten für ein heterogenes Team kooperierender, autonomer humanoider Roboter},
year = {2005},
number = {19},
pages = {3 - 10},
month = {08 - 09 December},
publisher = {Springer},
editor = {P. Levi and M. Schanz and R. Lafrenz and V. Avrutin},
series = {Informatik aktuell},
address = {Stuttgart},
booktitle = {Autonome Mobile Systeme 2005 },
organization = {Gesellschaft f\"ur Informatik},
pdf = {2005-ams-kiener-vonStryk.pdf},
abstract = {Für ein kooperierendes Team autonomer, humanoider Roboter, das derzeit aus insgesamt vier unterschiedlichen, ca. 37 - 68 cm großen Robotertypen besteht, werden eine plattformübergreifende, modulare Softwarearchitektur sowie plattformübergreifende und individuelle Module zur Sensordatenverarbeitung, Planung und Bewegungssteuerung entwickelt. Das entwickelte funktionale Framework ermöglicht die Kommunikation der Softwaremodule, d.h. Algorithmen für die unterschiedlichen Aufgaben innerhalb der Architektur untereinander, sowie die Kommunikation per WLAN zwischen verschiedenen Rechnern und Robotern. Als Anwendungsszenario für die Teamkooperation in einer dynamischen und strukturierten Umgebung wird Roboterfußball untersucht. Die entwickelten Methoden wurden im Juli 2005 von den Darmstadt Dribblers beim RoboCup in Osaka bei der Premiere von Teamspielen in der Humanoid Robot League eingesetzt. Daneben werden Kooperationsszenarien von heterogenen Robotersystemen bestehend aus vierbeinigen und humanoiden Robotern untersucht.},
}
@INPROCEEDINGS{StelzervonStryk2005,
author = {Maximilian Stelzer and Oskar von Stryk},
title = {From Robots to Humans: Towards Efficient Forward Dynamics Simulation and Optimization Exploiting Structure and Sensitivity Information},
year = {2005},
booktitle = {Proceedings of ECCOMAS Multibody Dynamics 2005, Advances in Computational Multibody Dynamics, Madrid, June 21-24},
pdf = {stelzer_vonstryk_ECCOMAS2005_final_pre.pdf},
}
@INPROCEEDINGS{RettigvonStryk:2005,
author = {U. Rettig and O. von Stryk},
title = {Optimal and robust damping control for semi-active vehicle suspension},
year = {2005},
pages = {paper no. 20-316},
month = {August 7-12},
address = {Eindhoven, The Netherlands},
booktitle = {5th EUROMECH Nonlinear Dynamics Conference (ENOC)},
pdf = {2005-enoc-rettig-vstryk-preprint.pdf},
abstract = {The paper focusses on optimal control issues arising in semi-active vehicle suspension motivated by the application of continuously controllable ERF-shock absorbers. Optimality of the damping control is measured by an objective consisting of a weighted sum of criteria related to safety and comfort which depend on the state variables of the vehicle dynamics model. In the case of linear objectives and linear quarter or half car dynamics models the well-known linear quadratic regulators can be computed. However, to account for maximum robustness with respect to unknown perturbations, e.g., by the ground, linear robust-optimal H-infinity controllers are investigated which can be computed iteratively. The linear H-infinity controller can be viewed as the solution of a linear dynamic zero-sum differential game. Thus, a nonlinear H-infinity controller can be obtained in principle as the solution of a nonlinear zero-sum dynamic game problem. Such a problem formulation enables to consider nonlinear vehicle dynamics as well as nonlinear objectives and constraints. A computational method is discussed which computes approximations of robust-optimal trajectories for nonlinear damping control. The method is based on a reformulation of the dynamic game and the application of a control and state parameterization approach in combination with sparse nonlinear programming methods. Numerical results for the different approaches and their validation by software-in-the-loop simulation using a full motor vehicle dynamics model are presented. },
}
@ARTICLE{RoefervonStryk:2005,
author = {Th. Röfer and O. von Stryk},
title = {Softwarearchitektur: Ein Erfolgsfaktor beim Roboterfußball!},
journal = {OBJEKTspektrum},
year = {2005},
volume = {2005},
number = {4},
pages = {31-32},
month = {July/August},
abstract = {Seit 1997 wird jährlich der RoboCup, die Fußballweltmeisterschaft autonomer Roboter, in mehreren Ligen laufender, rollender oder simulierter Roboter ausgetragen. Am RoboCup 2004 in Lissabon, an dem 346 Teams aus 37 Ländern teilnahmen, hat erstmals ein deutsches Team den Weltmeistertitel in der Liga der vierbeinigen Roboter gewonnen. Das GermanTeam will den Titel auch beim diesjährigen RoboCup im Juli in Osaka verteidigen.},
}
@INPROCEEDINGS{ButzStryk:2005,
author = {T. Butz and O. von Stryk},
title = {Optimal control based modeling of vehicle driver properties},
year = {2005},
number = {SAE Paper 2005-01-0420},
month = {April 11-14},
address = {Detroit, MI},
booktitle = {Society of Automotive Engineers (SAE) 2005 World Congress},
pdf = {2005-ButzvonStryk.pdf},
abstract = {In this paper, we present a two-level driver model for the use in real-time vehicle dynamics applications. On the anticipation level of this model, nominal trajectories for the path and the speed profile of the vehicle along a given course are determined by reducing the driving task to a parametric optimal control problem and using an efficient direct collocation method for its solution. Typical optimality criteria and control-state constraints serve to depict driving properties of different driver types. On the stabilization level, a nonlinear position controller guides the full vehicle dynamics model along the prescribed trajectories in real-time. This synthetic driver model allows easy implementation of different driving strategies to simulate a wide range of driver types and vehicles. The expediency of the proposed model is shown by comparing simulation results with measured data from several drivers performing ISO double lane changes with a passenger car.},
}
@INPROCEEDINGS{2005AMAM:KlugMoehlvonStrykBart,
author = {S. Klug and B. Möhl and O. von Stryk and O. Barth},
title = {Design and application of a 3 DOF bionic robot arm},
year = {2005},
month = {September 25-30},
note = {in press},
address = {Ilmenau, Germany},
booktitle = {Proc. 3rd Intl. Symposium on Adaptive Motion in Animals and Machines (AMAM)},
url = {http://www.biorob.de},
pdf = {2005-AMAM-Klug-Moehl-vonStryk-Barth.pdf},
abstract = {Regarding to concrete industrial applications, we examined the functionality and the systematic design of a bionic robot arm developed and driven by biologically inspired principles. Based on a laboratory model a scalable multi-bodydynamics-simulation model has bin developed. Although it is driven by elastically coupled linkages which require additional control efforts for oscillation damping, we can show possible advantages of a lighter and bending relieved structure and a significant reduction of danger in case of collisions.},
}
@INPROCEEDINGS{AMAM2005,
author = {M. Stelzer and O. von Stryk},
title = {Efficient forward dynamics simulation and optimization of locomotion: from legged robots to biomechanical systems},
year = {2005},
month = {September 25-30},
booktitle = {Proc. 3rd Intl. Symposium on Adaptive Motion in Animals and Machines (AMAM)},
pdf = {2005-AMAM-Stelzer-vonStryk.pdf},
}
@TECHREPORT{DD:2005,
author = {M. Friedmann and J. Kiener and R. Kratz and T. Ludwig and S. Petters and M. Stelzer and O. von Stryk and D. Thomas},
title = {Darmstadt Dribblers 2005: Humanoid Robot (Team Description Paper)},
year = {2005},
note = {10 pages},
institution = {Technische Universität Darmstadt},
pdf = {2005-tdp-hum-darmstadt-dribblers.pdf},
abstract = {This paper describes the hardware and software design of the two humanoid robot systems of the Darmstadt Dribblers. The robots are used as a vehicle for research in control of locomotion and behavior of humanoid robots with many degrees of freedom and many actuated joints. The Humanoid League of RoboCup provides an ideal testbed for such aspects of dynamics in motion and autonomous behavior as the problem of generating and maintaining statically or dynamically stable bipedal locomotion is predominant for all types of motions during a soccer game. A new modular software architecture has been developed for efficient and effective implementation and test of modules for sensing, planning, behavior, and actions.},
}
@ARTICLE{KlugMoehlvonStrykBarth:2005,
author = {S. Klug and B. Möhl and O. von Stryk and O. Barth},
title = {Der bionische Roboterarm},
journal = {Konstruktion},
year = {2005},
pages = {48-49},
month = {May},
}
@INPROCEEDINGS{Glocker:04,
author = {M. Glocker},
title = {A decomposition approach for optimal control problems with integer inner point state constraints},
year = {2004},
volume = {4},
number = {1},
pages = {608-609},
month = {Dec.},
note = {Beitrag zur GAMM-Jahrestagung 2004 in Dresden, eingereicht zur Veröffentlichung in PAMM},
booktitle = {Proceedings in Applied Mathematics and Mechanics (PAMM)},
pdf = {2004-Glocker.pdf},
abstract = {A large class of optimal control problems for hybrid dynamic systems can be formulated as mixed-integer optimal control problems (MIOCPs). A decomposition approach is suggested to solve a special subclass of MIOCPs with mixed integer inner point state constraints. It is the intrinsic combinatorial complexity of the discrete variables in addition to the high nonlinearity of the continuous optimal control problem that forms the challenges in the theoretical and numerical solution of MIOCPs. During the solution procedure the problem is decomposed at the inner time points into a multiphase problem with mixed integer boundary constraints and phase transitions at unknown switching points. Due to a discretization of the state space at the switching points the problem can be decoupled into a family of continuous optimal control problems (OCPs) and a problem similar to the asymmetric group traveling salesman problem (AGTSP). The OCPs are transcribed by direct collocation to large-scale nonlinear programming problems, which are solved efficiently by an advanced SQP method. The results are used as weights for the edges of the graph of the corresponding TSP-like problem, which is solved by a Branch-and-Cut-and-Price (BCP) algorithm. The proposed approach is applied to a hybrid optimal control benchmark problem for a motorized traveling salesman.},
}
@INPROCEEDINGS{2004:NandyvonStryk,
author = {S. Nandy and O. von Stryk},
title = {Towards EKF for humanoid robot navigation by sensor error modelling and sensor error fusion},
year = {2004},
pages = {59-67},
editor = {S. N. Shome, J. Basu and G. P. Sinha},
booktitle = {Proc. National Conference on Advanced Manufacturing & Robotics},
}
@TECHREPORT{2004:RoboCup-TDP-GermanTeam,
author = {Thomas Röfer and Ronnie Brunn and Ingo Dahm and Matthias Hebbel and Jan Hoffmann and Matthias Jüngel and Tim Laue and Martin Lötzsch and Walter Nistico and Michael Spranger},
title = {GermanTeam 2004 - The German National RoboCup Team},
year = {2004},
institution = {Universität Bremen, TU Darmstadt, HU Berlin, Universität Dortmund},
pdf = {2004-tdp-GermanTeam.pdf},
}
@INCOLLECTION{tropea:bionik2004,
author = {M. Stelzer and O. von Stryk},
title = {Laufbewegungen bei Roboter, Tier und Mensch: Analyse, Modellierung, Simulation und Optimierung},
year = {2004},
pages = {145-158},
publisher = {Springer-Verlag},
editor = {T. Rossmann and C. Tropea},
booktitle = {Bionik},
url = {http://www.springeronline.com/sgw/cda/frontpage/0,11855,1-185-22-32104490-detailsPage%253Dppmmedia%257CaboutThisBook%257CaboutThisBook,00.html},
}
@INPROCEEDINGS{MechRob:2004,
author = {R. Höpler and M. Stelzer and O. von Stryk},
title = {Object-oriented dynamics modeling for legged robot trajectory optimization and control},
year = {2004},
pages = {972-977},
month = {Sept. 13-15},
publisher = {Sascha Eysoldt Verlag},
address = {Aachen},
booktitle = {Proc. IEEE Intl. Conf. on Mechatronics and Robotics (MechRob)},
pdf = {2004-IEEE-MechRob.pdf},
abstract = {This paper discusses the development and application of object-oriented modeling and implementation techniques to achieve a representation of the mechanical model amenable to the various requirements by legged robot applications. This leads to a uniform, modular, and flexible code generation while reaping the performance of efficient domain-specific articulated body algorithms. Trajectory optimization problems of bipedal and quadrupedal robots are investigated as applications. It is shown how a high-level specification of multibody dynamics models using component libraries serves as a basis for generation of a number of modules forming an ìoverall computational dynamics model. The selected examples illustrate how one copes with the emerging complexity by integrating various modules for, e.g., equations of motion, non-linear boundary conditions, symmetry and transition conditions, for multiple phases during motion. Variations of the mechanical structure, e.g., contact conditions can be treated either by multiple models or by reconfiguration of one model. Numerical results are presented for time- and energy-optimal trajectories of full three-dimensional models of a humanoid robot and a Sony four-legged robot. },
}
@INPROCEEDINGS{HoeplerStelzervonStryk:2004,
author = {R. Höpler and M. Stelzer and O. von Stryk},
title = {Integrated, object-oriented dynamics modeling for design, trajectory optimization and control of legged robots},
year = {2004},
month = {March 1-4},
address = {Halle (Saale), Germany},
booktitle = {EUROMECH Colloquium 452 on Advances in Simulation Techniques for Applied Dynamics},
}
@TECHREPORT{Kiener:2004,
author = {J. Kiener},
title = {Direkte und Inverse Kinematik eines sechsgelenkigen humanoiden Roboterarms},
year = {2004},
note = {Interner Bericht},
institution = {Technische Universität Darmstadt, Fachgebiet Simulation und Systemoptimierung},
}
@TECHREPORT{DD:2004,
author = {J. Kiener and M. Stelzer and O. von Stryk},
title = {Darmstadt Dribblers 2004: Humanoid Robot (Team Description Paper)},
year = {2004},
note = {9 pages},
institution = {Technische Universität Darmstadt},
url = {http://www.sim.informatik.tu-darmstadt.de/},
pdf = {2004-tdp-hum04.pdf},
abstract = {This paper describes the design and implementation of the first humanoid robot prototype of the Darmstadt Dribblers, which participated in the Humanoid League of RoboCup for the first time in 2004. The robot is used as a vehicle for research in control of locomotion and behavior of humanoid robots with many degrees of freedom and many actuated joints. For humanoid robots highly nonlinear physical dynamical effects must be considered on all levels of a reactive-deliberative control architecture realizing autonomous robot behaviour. The Humanoid League of RoboCup provides an ideal testbed as the problem of generating and maintaining statically or dynamically stable bipedal locomotion is predominant for all types of motions during a soccer game. The team has evolved from the Darmstadt Dribbling Dackels team which continuously has participated as part of the German Team in the Sony Four-Legged League since 2001.},
}
@TECHREPORT{GT:2004,
author = {T. Röfer and T. Laue and H.-D. Burkhard and J. Hoffmann and M. Jüngel and D. Göhring and M. Lötzsch and U. Düffert and M. Spranger and B. Altmeyer and V. Goetzke and O. von Stryk and R. Brunn and M. Dassler and M. Kunz and M. Risler and M. Stelzer and D. Thomas and S. Uhrig and U. Schwiegelshohn and I. Dahm and M. Hebbel and W. Nistico and C. Schumann and M. Wachter},
title = {GermanTeam 2004, Technical Report of the RocoCup-Team in the Sony Legged Robot League},
year = {2004},
note = {299 pages},
institution = {HU-Berlin, U-Bremen, TU-Darmstadt, U-Dortmund},
pdf = {2004-GermanTeamReport.pdf},
abstract = {The GermanTeam is a joint project of four German universities in the Sony Legged Robot League. This report describes the software developed for the RoboCup 2004 in Lisbon. It presents the software architecture of the system as well as the methods that were developed to tackle the problems of motion, image processing, object recognition, self-localization, and robot behavior. The approaches for both playing robot soccer and mastering the challenges are presented. In addition to the software actually running on the robots, this document will also give an overview of the tools the GermanTeam used to support the development process.
The report serves as detailed documentation of the work that has been done and aims at enabling other researchers to make use of it. In an extensive appendix, several topics are described in detail, namely the installation of the software, how it is used, the implementation of inter-process communication, streams, and debugging mechanisms, and the approach of the GermanTeam to model the behavior of the robots.},
}
@ARTICLE{Butz-etal:2004,
author = {T. Butz and M. Ehmann and T.-M. Wolter and O. von Stryk},
title = {Realistische Straßenmodellierung für die Fahrdynamiksimulation in Echtzeit},
journal = {ATZ},
year = {2004},
volume = {2/2004, Jahrgang 106},
pages = {118-125},
url = {http://www.all4engineers.de/},
pdf = {2004-Butz-Ehmann-vStryk-Wolter.pdf},
}
@INPROCEEDINGS{BussHardtetal.Humanoids:2003,
author = {M. Buss and M. Hardt and J. Kiener and M. Sobotka and M. Stelzer and O. von Stryk and D. Wollherr},
title = {Towards an autonomous, humanoid, and dynamically walking robot: modeling, optimal trajectory planning, hardware architecture, and experiments},
year = {2003},
month = {30 Sept - 3 Oct},
address = {Karlsruhe/Munich, Germany},
booktitle = {Proc. 3rd IEEE-RAS International Conference on Humanoid Robots (Humanoids2003)},
pdf = {2003-Humanoids-Buss-etal.pdf},
abstract = {The complete development process for achieving walking motion with a recently constructed humanoid robot is discussed. The desired motion is based on the solution of an optimal control problem whose constraints depend upon the high-dimensional nonlinear multibody system dynamics of a 17~DoF humanoid and physical contact constraints with the environment. On-line control strategies are developed for tracking the precalculated trajectories. Experimental walking results with the humanoid robot are presented.},
}
@TECHREPORT{ZulaufKieferEffenberger:2003,
author = {A. Zulauf and M. Kiefer and J. Effenberger},
title = {Entwicklung eines Roboterarms und eines Kamerasystems für einen mobilen Roboter},
year = {2003},
type = {Studienarbeit},
institution = {Technische Universität Darmstadt, Fachgebiet Simulation und Systemoptimierung},
}
@INPROCEEDINGS{wollherr:aim03,
author = {D. Wollherr and M. Buss and M. Hardt and O. von Stryk},
title = {Research and Development Towards an Autonomous Biped Walking Robot},
year = {2003},
pages = {968-973},
address = {Kobe, Japan},
booktitle = {Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM2003},
url = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=1225473},
pdf = {2003-AIM-Wollherr-etal.pdf},
abstract = {Methods for modeling, simulation and optimization of the dynamics, stability, and performance of humanoid robots are presented in this paper. Optimal control trajectory following by joint-level control combined with an online compensation method using Jacobians is proposed. The kinematic design, dynamic properties, hard- and software architecture for an autonomous biped, and experimental results are presented.},
}
@BOOK{vonStryk:Habil,
author = {O. von Stryk},
title = {Numerical Hybrid Optimal Control and Related Topics},
year = {2003},
publisher = {Habilitationsschrift, Technische Universität München},
editor = { },
address = {München, Germany},
}
@TECHREPORT{GT:2003,
author = {T. Röfer and H.-D. Burkhard and U. Düffert and J. Hoffmann and D. Göhring and M. Jüngel and M. Lötzsch and O. von Stryk and R. Brunn and M. Kallnik and M. Kunz and S. Petters and M. Risler and M. Stelzer and I. Dahm and M. Wachter and K. Engel and A. Osterhues and C. Schumann and J. Ziegler},
title = {GermanTeam 2003},
year = {2003},
note = {199 pages},
type = {Technical Report of the RocoCup-Team in the Sony Legged Robot League},
institution = {Humboldt-Universität Berlin, Universität Bremen, Technische Universität Darmstadt, Universität Dortmund},
owner = {SIM},
abstract = {The GermanTeam is a joint project of several German universities in the Sony Legged Robot League. This report describes the software developed for the RoboCup 2003 in Padova. It presents the software architecture of the system as well as the methods that were developed to tackle the problems of motion, image processing, object recognition, self-localization, and robot behavior. The approaches for both playing robot soccer and mastering the challenges are presented. In addition to the software actually running on the robots, this document will also give an overview of the tools the GermanTeam used to support the development process.
In an extensive appendix, several topics are described in detail, namely the installation of the software, how it is used, the implementation of inter-process communication, streams, and debugging mechanisms, and the approach of the GermanTeam to model the behavior of the robots.},
}
@INPROCEEDINGS{PAMM:2003,
author = {A. Helm and M. Hardt and R. Höpler and O. von Stryk},
title = {Development of a toolbox for model-based real-time simulation and analysis of legged robots},
year = {2003},
volume = {2},
number = {1},
pages = {130-131},
month = {25 March},
booktitle = {PAMM - Proceedings in Applied Mathematics and Mechanics},
doi = {10.1002/pamm.200310050},
url = {http://www3.interscience.wiley.com/cgi-bin/jhome/91016652},
pdf = {2003-PAMM-HHvSH.pdf},
abstract = {Multibody systems such as legged robots require sophisticated and efficient methods for their modeling, control and simulation. This paper discusses the development of a software library based on modern tools such as C++, OpenGL and XML for highly efficient dynamics modeling. A primary focus lies on modularity permitting its easy extensibility in connection with different actuation and contact models, optimization algorithms, localized and centralized on-line control schemes as well as animation and simulation environments.},
}
@INPROCEEDINGS{ICRA:2003,
author = {M. Hardt and O. von Stryk and D. Wollherr and M. Buss},
title = {Development and control of autonomous, biped locomotion using efficient modeling, simulation, and optimization techniques},
year = {2003},
pages = {1356-1361},
month = {Sept. 14-19},
address = {Taipeh, Taiwan},
booktitle = {Proc. IEEE Int. Conf. on Robotics and Automation (ICRA)},
url = {http://ieeexplore.ieee.org/Xplore/login.jsp?url=http%3A%2F%2Fieeexplore.ieee.org%2Fiel5%2F8794%2F27829%2F01241780.pdf%3Farnumber%3D1241780&authDecision=-203},
pdf = {2003-ICRA-Hardt-etal.pdf},
abstract = {Methods for modeling, simulating and optimizing the dynamics, stability and performance of legged robot locomotion are discussed in this paper. It is demonstrated how these tools are used in the design, implementation and operation of a humanoid robot. The selection and integration of fundamental hard- and software needed for autonomous operation and high agility is presented for a recently developed fully-actuated 17 DoF humanoid. The results are additionally reported from simulations and gait optimizations completed during its development using a 3D dynamic biped model coupled with multiple physical and stability constraints.},
}
@INPROCEEDINGS{RC:2002,
author = {M. Hardt and O. von Stryk},
title = {The role of motion dynamics in the design, control and stability of bipedal and quadrupedal robots},
year = {2003},
volume = {2752},
pages = {206-223},
month = {June 24-25},
publisher = {Springer-Verlag},
editor = {G.A. Kaminka and P.U. Lima and R. Rojas},
series = {Lecture Notes in Artificial Intelligence},
address = {Fukuoka, Japan},
booktitle = {RoboCup 2002 International Symposium (Robot Soccer World Cup VI)},
pdf = {2002-robocup-hardt-vonstryk.pdf},
abstract = {Fundamental principles and recent methods for investigating the nonlinear dynamics of legged robot motions with respect to control, stability and design are discussed. One of them is the still challenging problem of producing dynamically stable gaits. The generation of fast walking or running motions require methods and algorithms adept at handling the nonlinear dynamical effects and stability issues which arise. Reduced, recursive multibody algorithms, a numerical optimal control package, and new stability and energy performance indices are presented which are well-suited for this purpose. Difficulties and open problems are discussed along with numerical investigations into the proposed gait generation scheme. Our analysis considers both biped and quadrupedal gaits with particular reference to the problems arising in soccer-playing tasks encountered at the RoboCup where our team, the Darmstadt Dribbling Dackels, participates as part of the German Team in the Sony Legged Robot League.},
}
@TECHREPORT{GTTDP:2003,
author = {I. Dahm and U. Düffert and J. Hoffmann and M. Jüngel and M. Kallnik and M. Lötzsch and M. Risler and T. Röfer and M. Stelzer and J. Ziegle},
title = {German Team 2003},
year = {2003},
note = {4 Seiten},
type = {Team Description Paper},
institution = {Humboldt-Universität Berlin, Universität Bremen, Technische Universität Darmstadt},
pdf = {2003-GermanTeam2003.pdf},
owner = {SIM},
abstract = {The GermanTeam participates as a national team in the Sony Legged Robot League. It currently consists of students and researchers from the following four universities: the Humboldt-Universität zu Berlin, the Universität Bremen, the Technische Universität Darmstadt, and the Universität Dortmund. The members of the GermanTeam participate as separate teams in the national contests such as RoboCup German Open, but jointly line up for the international RoboCup championship as a single team. To support this cooperation and concurrency, the GermanTeam introduced an architecture that provides mechanisms for parallel development. The entire information processing and control of the robot is divided into modules that have well-defined tasks and interfaces. For each module, many different solutions can be developed. Solutions for a module can be switched at runtime. Currently, for most modules various solutions exist. Approaches to a problem can thereby easily be compared and benchmarked.
This paper gives a brief overview of the current work of all four universities in the GermanTeam.},
}
@INCOLLECTION{VoegelvonStrykBulirschWolterChucholowski2003,
author = {M. Vögel and O. von Stryk and R. Bulirsch and T.-M. Wolter and C. Chucholowski},
title = {An optimal control approach to real-time vehicle guidance},
year = {2003},
pages = {84-102},
publisher = {Springer-Verlag},
editor = {W. Jäger and H.-J. Krebs},
booktitle = {Mathematics - Key Technology for the Future},
pdf = {2003-voegel-vonstryk-bulirsch-etal.pdf},
owner = {SIM},
abstract = {A newly developed two-level driver model is presented. On the anticipation level, optimal control problems for a reduced vehicle dynamics model are solved repeatedly on a moving prediction horizon to yield near optimal setpoint trajectories for the full model. On the stabilization level, a nonlinear position controller is developed to accurately track the setpoint trajectories with a full motor vehicle dynamics model in real-time. The formulation of the optimal control problems on the anticipation level is based on a nonlinear single track model which is extended by a complex tire model and further nonlinear model details such as to match the main properties of the full vehicle dynamics model. The optimal control problems are solved efficiently by a recently developed sparse direct collocation method. Numerical results for various vehicle maneuvers are presented, including a time-optimal double lane change at high speed.},
}
@INPROCEEDINGS{StelzerHardtvonStryk2003,
author = {M. Stelzer and M. Hardt and O. von Stryk},
title = {Efficient dynamic modeling, numerical optimal control and experimental results for various gaits of a quadruped robot},
year = {2003},
pages = {601-608},
month = {Sept. 17-19},
booktitle = {CLAWAR 2003: 6th International Conference on Climbing and Walking Robots, Catania, Italy},
pdf = {2003-stelzer-hardt-vonstryk.pdf},
owner = {SIM},
abstract = {Numerical simulation and optimization of gaits for quadruped robots based on nonlinear multibody dynamics models of legged locomotion have made progress recently. A fully threedimensional dynamical model of Sony’s four-legged robot is used to state an optimal control problem for a symmetric, dynamically stable gait. The optimal control problem is solved by a sparse direct collocation method. Numerical problems related to the high-index differential algebraic equations of motion are avoided by substituting the differential algebraic equations by an equivalent set of reduced dynamics ordinary differential equations. Numerical and experimental results validate the model and the methods used for gait generation.},
}
@ARTICLE{HardtvonStryk2003,
author = {M. Hardt and O. von Stryk},
title = {Dynamic modeling in the simulation, optimization and control of legged robots},
journal = {ZAMM: Zeitschrift für Angewandte Mathematik und Mechanik},
year = {2003},
volume = {83},
number = {10},
pages = {648-662},
url = {http://www.wiley-vch.de/publish/en/journals/alphabeticIndex/2233/},
pdf = {2003-zamm7a-preprint.pdf},
owner = {SIM},
abstract = {Fundamental principles and recent methods for investigating the nonlinear dynamics of legged robot motions with respect to control, stability and design are discussed. One of them is the still challenging problem of producing dynamically stable gaits. The generation of fast walking or running motions requires methods and algorithms adept at handling the nonlinear dynamical effects and stability issues which arise. Reduced, recursive multibody algorithms, a numerical optimal control method, and new stability and energy performance indices are presented which are well-suited for this purpose.Difficulties and open problems are discussed along with numerical investigations into the proposed gait generation scheme. Our analysis considers both biped and quadrupedal gaits. },
}
@INCOLLECTION{TF:2002,
author = {M. Hardt and M. Stelzer and O. von Stryk},
title = {Modellierung und Simulation der Dynamik des Laufens bei Roboter, Tier und Mensch},
year = {2002},
volume = {2/2002},
pages = {56-63},
publisher = {Technische Universität Darmstadt},
booktitle = {thema Forschung},
url = {http://www.tu-darmstadt.de/for/thema_forschung/thema-forschung.tud},
pdf = {2002-TUDForschung-hardt-stelzer-vonstryk.pdf},
abstract = {In den neunziger Jahren des zwanzigsten Jahrhunderts begann weltweit das wissenschaftliche und kommerzielle Interesse an Laufmaschinen und laufenden Robotern (z.B. Honda P3, Sony AIBO) stark anzuwachsen. Konstruktion, Steuerung und Regelung laufender Roboter sind um ein Vielfaches aufwendiger zu realisieren als beispielsweise die Fortbewegung auf Rädern. Die Fortbewegung auf Beinen ermöglicht jedoch das Schreiten über Hindernisse und Gräben, das Treppen steigen und allgemein eine gleichmäßige Fortbewegung über unebenem Untergrund durch Kompensation von Unebenheiten durch Anpassung von Schrittlänge und -höhe. Auch besteht auf weichem Grund ein geringeres Risiko des Einsinkens gegenüber Rädern. Computerbasierte Modellierung und Simulation bietet neben Theorie und Experiment einen neuen Zugang zum Verständnis und zur Lösung vieler noch offener, grundlegender Fragen im Verständnis der Dynamik des Laufens bei Mensch, Tier und Roboter.},
}
@INCOLLECTION{TF:2002-2,
author = {T. Butz and C. Chucholowski and M. Ehmann and U. Rettig and O. von Stryk and T.-M. Wolter},
title = {Test und Validierung von Fahrdynamikregelungen mittels Hardware- und Software-in-the-Loop Simulation},
year = {2002},
volume = {1/2002},
pages = {45-50},
publisher = {Technische Universität Darmstadt},
booktitle = {thema Forschung},
}
@INPROCEEDINGS{IFAC:2002,
author = {M. Hardt and O. von Stryk},
title = {Increasing stability in dynamic gaits using numerical optimization},
year = {2002},
pages = {1636-1641},
month = {July 21-26},
publisher = {Elsevier Science},
address = {Barcelona, Spain},
booktitle = {Proc. 15th IFAC World Congress on Automatic Control},
keywords = {walking, path planning, dynamic stability, robot dynamics, optimization problems, nonlinear programming, numerical methods},
url = {http://www.ifac2002.org/},
pdf = {2002-ifac-hardt-vonstryk.pdf},
abstract = {Optimal gait planning is applied in this work to the problem of improving stability in quadruped locomotion. In many settings, it is desired to operate legged machines at high performance levels where rapid velocities and a changing environment make stability of utmost concern. Since gait planning still remains a vital component of legged system control design, an efficient method of determining periodic paths is presented which optimize a dynamic stability criterion. Efficient recursive multibody algorithms are used with numerical optimal control software to solve the minimax performance stability criteria.},
}
@INPROCEEDINGS{GlockervonStryk:2002,
author = {M. Glocker and O. von Stryk},
title = {Hybrid optimal control of motorized traveling salesmen and beyond},
year = {2002},
pages = {987-992},
month = {July 21-26},
publisher = {Elsevier Science},
address = {Barcelona, Spain},
booktitle = {Proc. 15th IFAC World Congress on Automatic Control},
keywords = {nonlinear hybrid dynamical systems, mixed-integer optimal control, branch-and-bound, direct collocation transcription, sparse sequential quadratic programming, motorized traveling salesmen, genetic algorithm},
url = {http://www.ifac2002.org/},
pdf = {2002-ifac-glocker-vonstryk.pdf},
abstract = {Numerical methods for optimal control of hybrid dynamical systems are considered where the discrete dynamics and the nonlinear continuous dynamics are tightly coupled. A decomposition approach for numerically solving general mixed-integer continuous optimal control problems (MIOCPs) is discussed. In the outer optimization loop a branch-and-bound binary tree search is used for the discrete variables. The multiple-phase optimal control problems for the continuous state and control variables in the inner optimization loop are solved by a sparse direct collocation transcription method. A genetic algorithm is applied to improve the performance of the branch-and-bound approach by providing a good initial upper bound on the MIOCP performance index. Results are presented for motorized traveling salesmen problems, new benchmark problems in hybrid optimal control.},
}
@INPROCEEDINGS{LNCSE:2002,
author = {T. Butz and O. von Stryk and C. Chucholowski and S. Truskawa and T.-M. Wolter},
title = {Modeling techniques and parameter estimation for the simulation of complex vehicle structures},
year = {2002},
volume = {21},
pages = {333-340},
publisher = {Springer-Verlag},
editor = {M. Breuer, F. Durst, C. Zenger},
series = {Lecture Notes in Computational Science and Engineering},
booktitle = {High Perfomance Scientific and Engineering Computing},
pdf = {2002-butz-etal.pdf},
}
@ARTICLE{ZAMM:2002,
author = {T. Butz and O. von Stryk},
title = {Modelling and simulation of electro- and magnetorheological fluid dampers},
journal = {ZAMM: Zeitschrift für Angewandte Mathematik und Mechanik},
year = {2002},
volume = {82},
number = {1},
pages = {3-20},
url = {http://www.wiley-vch.de/publish/en/journals/alphabeticIndex/2233/},
pdf = {2002-ZAMM-Butz-vonStryk.pdf},
abstract = {Electro- and magnetorheological fluids are smart, synthetic fluids changing their viscosity from liquid to semi-solid state within milliseconds if a sufficiently strong electric or magnetic field is applied. When used in suitable devices, they offer the innovative potential of very fast, adaptively controllable interfaces between mechanical devices and electronic control units. This paper gives an overview on the basic properties of electro- and magnetorheological fluids and discusses various phenomenological models for whole devices and their applications. Numerical simulation results are presented for the passive suspension of a quarter vehicle model.},
}
@INPROCEEDINGS{BussHardtvonStryk:2002,
author = {M. Buss and M. Hardt and O. von Stryk},
title = {Numerical solution of hybrid optimal control problems with applications in robotics},
year = {2002},
pages = {2077-2082},
month = {July 21-26},
publisher = {Elsevier Science},
address = {Barcelona, Spain},
booktitle = {Proc. 15th IFAC World Congress on Automatic Control},
keywords = {hybrid optimal control, mechatronics, underactuated robots},
url = {http://www.ifac2002.org/},
pdf = {2002-ifac-buss-hardt-vonstryk.pdf},
abstract = {Numerical solution techniques for a class of hybrid (discrete event / continuous variable) optimal control problems (HOCP) are described, and their potential use in robotic applications is demonstrated. HOCPs are inherently combinatorial due to their discrete event aspect which is one of the main challenges when numerically solving for optimal hybrid trajectories. One may associate a continuous nonlinear multi-phase problem with each possible discrete state sequence. Two solution techniques for obtaining suboptimal solutions are presented (both based on numerical direct collocation): one fixes interior point constraints on a grid, another uses branch-and-bound. Numerical results of a robotic multi-arm transport task and an underactuated robot are presented.},
}
@INPROCEEDINGS{KONDISK:2002,
author = {M. Buss and M. Glocker and M. Hardt and O. von Stryk and R. Bulirsch and G. Schmidt},
title = {Nonlinear hybrid dynamical systems: modeling, optimal control, and applications},
year = {2002},
volume = {279},
pages = {311-335},
publisher = {Springer-Verlag},
editor = {S. Engell, G. Frehse, E. Schnieder},
series = {Lecture Notes in Control and Information Sciences (LNCIS)},
address = {Berlin, Heidelberg},
booktitle = {Modelling, Analysis and Design of Hybrid Systems},
pdf = {2002-kondisk.pdf},
abstract = {Nonlinear hybrid dynamical systems are the main focus of this paper. A modeling framework is proposed, feedback control strategies and numerical solution methods for optimal control problems in this setting are introduced, and their implementation with various illustrative applications are presented. Hybrid dynamical systems are characterized by discrete event and continuous dynamics which have an interconnected structure and can thus represent an extremely wide range of systems of practical interest. Consequently, many modeling and control methods have surfaced for these problems. This work is particularly focused on systems for which the degree of discrete/continuous interconnection is comparatively strong and the continuous portion of the dynamics may be highly nonlinear and of high dimension. The hybrid optimal control problem is defined and two solution techniques for obtaining suboptimal solutions are presented (both based on numerical direct collocation for continuous dynamic optimization): one fixes interior point constraints on a grid, another uses branch-and-bound. These are applied to a robotic multi-arm transport task, an underactuated robot arm, and a benchmark motorized traveling salesman problem.},
}
@INPROCEEDINGS{IROS:2002,
author = {D. Wollherr and M. Hardt and M. Buss and O. von Stryk},
title = {Actuator selection and hardware realization of a small and fast-moving autonomous humanoid robot},
year = {2002},
pages = {2491-2496},
month = {Sept. 30 - Oct. 4},
address = {Lausanne, Switzerland},
booktitle = {Proc. 2002 IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS)},
url = {http://ieeexplore.ieee.org/xpl/freeabs_all.jsp?arnumber=1041643},
pdf = {2002-iros-wollherr-hardt-buss-vonstryk.pdf},
abstract = {This paper discusses the design concept and system development of a small and relatively fast walking, autonomous humanoid robot with 17 degrees-offreedom (DoF). The selection of motor size and gear ratios is based on numerical optimization of detailed multibody dynamics and optimal control corresponding to fast steps of the robot with an envisioned target speed of more than 0.5m/s. In this paper the design considerations based on numerical optimal control studies and the mechanical realization of the robot are presented including first investigations on the achievable performance of a decentralized, microcontrollerbased control architecture.},
}
@INPROCEEDINGS{hardt:clawar02,
author = {M. Hardt and D. Wollherr and M. Buss and O. von Stryk},
title = {Design of an autonomous fast-walking humanoid robot},
year = {2002},
pages = {391-398},
month = {Sept. 25-27},
publisher = {Bury St. Edmunds and London, UK: Professional Engineering Publishing},
editor = {P. Bidaud and F.B. Amar},
address = {Paris, France},
booktitle = {CLAWAR: International Conference on Climbing and Walking Robots},
pdf = {2002-clawar-hardt-wollherr-buss-vonstryk.pdf},
abstract = {The design considerations for a small, relatively fast walking, autonomous humanoid robot are presented. The robot must be energy efficient but also produce sufficient torque to reach greater speeds. On the basis of previous investigations into gait optimization for multilegged systems, dynamical modeling and nonlinear optimization tools are used for design optimization and choosing the motor size and gear ratios. Gait trajectories for relatively fast steps and different prototypes were calculated. The design decisions are described for the humanoid robot with 6 degrees-of-freedom (DoF) in each leg and 2 DoF in each arm based on numerical results and preliminary investigations with a 4 DoF test robot.},
}
@TECHREPORT{GT:2002,
author = {H.-D. Burkhard and U. Düffert and J. Hoffmann and M. Jüngel and M. Lötzsch and R. Brunn and M. Kallnik and N. Kuntze and M. Kunz and S. Petters and M. Risler and O. v. Stryk and N. Koschmieder and T. Laue and T. Röfer and K. Spiess and A. Cesarz and I. Dahm and M. Hebbel and W. Nowak and J. Ziegler},
title = {German Team 2002},
year = {2002},
note = {178 Seiten},
type = {Technical Report of the RocoCup-Team in the Sony Legged Robot League},
institution = {Humboldt-Universität Berlin, Universität Bremen, Technische Universität Darmstadt},
}
@ARTICLE{vonStrykGlocker:2001,
author = {O. von Stryk and M. Glocker},
title = {Numerical mixed-integer optimal control and motorized traveling salesmen problems},
journal = {APII-JESA (Journal europeen des systemes automatises - European Journal of Control)},
year = {2001},
volume = {35},
number = {4},
pages = {519-533},
pdf = {2001-vonstryk-glocker.pdf},
abstract = {A general approach for the numerical solution of hybrid, mixed-integer optimal control problems is presented. In an outer level iteration a branch-and-bound procedure is applied to search the entire feasible discrete variable space. An inner level iteration contains for each actual value of the discrete variable a continuous nonlinear optimal control problem with its nonlinear dynamics defined in multiple phases and phase transitions occuring at unknown switching points (events) which must be solved numerically subject to nonlinear constraints. For this purpose, a robust and efficient direct collocation method is employed that parameterizes both the continuous state and control variables and exploits the sparse structure in the resulting nonlinearly constrained optimization problems. The proposed approach is successfully applied to two new hybrid optimal control benchmark problems for a motorized traveling salesman and for a team of two cooperating, motorized salesmen.},
}
@INPROCEEDINGS{ISNM:2001,
author = {U. Rettig and O. von Stryk},
title = {Numerical optimal control strategies for semi-active vehicle suspension with electrorheological fluid dampers},
year = {2001},
volume = {138},
pages = {221-241},
publisher = {Birkhäuser Verlag},
editor = {K.-H. Hoffmann, R.H.W. Hoppe, V. Schulz},
series = {International Series in Numerical Mathematics},
booktitle = {Fast Solution of Discretized Optimization Problems},
pdf = {2001-rettig-vonstryk.pdf},
}
@INPROCEEDINGS{CACE:2001,
author = {A. Kröner and T. Kronseder and G. Engl and O. von Stryk},
title = {Dynamic optimization for air separation plants},
year = {2001},
pages = {433-438},
month = {May 27-30},
publisher = {Elsevier},
editor = {R. Gani, S.B. Jorgensen},
address = {Kolding, Dänemark},
booktitle = {Proc. European Symposium on Computer Aided Process Engineering (ESCAPE-11)},
}
@INPROCEEDINGS{LNCSE:2001,
author = {T. Kronseder and O. von Stryk and R. Bulirsch and A. Kröner},
title = {Towards nonlinear model-based predictive optimal control of large-scale process models with application to air separation plants},
year = {2001},
pages = {385-410},
publisher = {Springer Verlag},
editor = {M. Grötschel, S.O. Krumke, J. Rambau},
address = {Heidelberg},
booktitle = {Online Optimization of Large Scale Systems},
url = {http://www.zib.de/dfg-echtzeit/Publikationen/Preprints/Preprint-01-14.html},
pdf = {2001-kronseder-etal.pdf},
}
@INPROCEEDINGS{LNAI:2002,
author = {R. Brunn and U. Düffert and M. Jüngel and T. Laue and M. Lötzsch and S. Petters and M. Risler and T. Röfer and K. Spiess and A. Sztybryc},
title = {GermanTeam 2001},
year = {2001},
volume = {2377},
pages = {705-708},
publisher = {Springer-Verlag},
editor = {A. Birk, A. Coradeschi, S. Tadokoro},
booktitle = {RoboCup 2001: Robot Soccer World Cup V. - Lecture Notes in Artificial Intelligence},
pdf = {2001-GermanTeam2001.pdf},
abstract = {The GermanTeam is the successor of the Humboldt Heroes who already participated in the Sony Legged Robot League competitions in 1999 and 2000. Because of the strong interest of other German universities, in March 2001, the GermanTeam was founded. It consists of students and researchers of five universities: Humboldt-Universität zu Berlin, Universität Bremen, Technische Universität Darmstadt, Universität Dortmund, and Freie Universität Berlin. However, for the system presented in this document, the Humbold Heroes only had reinforcements from Bremen and Darmstadt. The two other universities will actively participate with the beginning of the winter semester.},
}
@INPROCEEDINGS{AISDG:2001,
author = {M.H. Breitner and U. Rettig and O. von Stryk},
title = {On optimal missile guidance upgrades with dynamic Stackelberg game linearizations},
year = {2001},
volume = {6},
pages = {277-294},
publisher = {Boston, Basel, Berlin: Birkhäuser},
editor = {E. Altman, O. Pourtallier},
booktitle = {Advances in Dynamic Games and Applications. Annals of the International Society of Dynamic Games},
}
@TECHREPORT{GT:2001,
author = {H.-D. Burkhard and U. Düffert and M. Jüngel and M. Lötzsch and N. Koschmieder and T. Laue and T. Röfer and K. Spiess and O. von Stryk and A. Sztybryc and R. Brunn and M. Risler},
title = {GermanTeam 2001},
year = {2001},
note = {41 Seiten},
type = {Technical Report of the RocoCup-Team in the Sony Legged Robot League},
institution = {Humboldt-Universität Berlin, Universität Bremen, Technische Universität Darmstadt},
pdf = {2001-GermanTeam2001report.pdf},
abstract = {The GermanTeam is a joint project of several German universities in the Sony Legged Robot League. This report describes the software developed for the RoboCup 2001 in Seattle. It presents the software architecture of the system as well as the methods that were developed to tackle the problems of motion, image processing, object recognition, self-localization, and robot behavior. The approaches for both playing robot soccer and mastering the challenges are presented. In addition to the software actually running on the robots, this document will also give an overview of the tools the GermanTeam used to support the development process.},
}
@INPROCEEDINGS{LNCSE:2001-2,
author = {T. Binder and L. Blank and H.G. Bock and R. Bulirsch and W. Dahmen and M. Diehl and T. Kronseder and W. Marquardt and J.P. Schlöder and O. von Stryk},
title = {Introduction to model based optimization of chemical processes on moving horizons},
year = {2001},
pages = {295-339},
publisher = {Springer Verlag},
editor = {M. Grötschel and S.O. Krumke and J. Rambau},
address = {Heidelberg},
booktitle = {Online Optimization of Large Scale Systems},
pdf = {2001-binder-etal.pdf},
}
@INPROCEEDINGS{vonStrykGlocker:2000,
author = {O. von Stryk and M. Glocker},
title = {Decomposition of mixed-integer optimal control problems using branch and bound and sparse direct collocation},
year = {2000},
pages = {99-104},
month = {September 18-19},
publisher = {Shaker},
editor = {S. Engell, S. Kowalewski, J. Zaytoon},
address = {Aachen},
booktitle = {ADPM 2000 - The 4th International Conference on Automation of Mixed Processes: Hybrid Dynamic Systems},
pdf = {2000-vonstryk-glocker.pdf},
abstract = {A large class of optimal control problems for hybrid dynamic systems can be formulated as mixed-integer optimal control problems (MIOCPs). It is the intrinsic combinatorial complexity, in addition to the nonlinearity of the continuous, multi-phase optimal control problems that is largely responsible for the challenges in the theoretical and numerical solution of MIOCPs. We present a new decomposition approach to numerically solving fairly general MICOPs with binary control variables. A Branch and Bound (B&B) technique is applied to efficiently search the entire discrete solution space performing a truncated binary tree search for the discrete variables maintaining upper and lower bounds on the performance index. The partially relaxed binary variables at an inner node define an optimal control problem with dynamic equations defined in multiple phases. Its global solution provides a lower bound on the performance index for all nodes of the subtree. If the lower bound for a given subtree is greater than the current global upper bound then that entire subtree need no longer be searched. The many optimal control problems with nonlinear, continuous state dynamics defined in multiple phases subject to nonlinear constraints are solved most efficiently by a sparse direct collocation transcription. Hereby, the multi-phase optimal control problem is transcribed to a sparse, large-scale nonlinear programming problem being solved efficiently by a tailored SQP method. Despite the high efficiency of the sparse direct collocation method, the efficiency of the decomposition technique for MIOCPs strongly depends on the determination of good lower and upper bounds on the performance index being used to fathoming entire subtrees throughout the binary tree search. The proposed approach is successfully applied to two new benchmark problems for hybrid optimal control: a motorized traveling salesman and a team of two cooperating, motorized salesmen.},
}
@INPROCEEDINGS{LAM:2000,
author = {R.H.W. Hoppe and G. Mazurkevitch and U. Rettig and O. von Stryk},
title = {Modeling, simulation and control of electrorheological fluid devices},
year = {2000},
pages = {251-276},
note = {Preprint SFB-438-9917, Sonderforschungsbereich 438, Technische Universität München -- Universität Augsburg (1999), 26 S.},
publisher = {Springer-Verlag},
editor = {H.-J. Bungartz, R.H.W. Hoppe, Chr. Zenger},
booktitle = {Lectures on Applied Mathematics},
url = {http://www-lit.mathematik.tu-muenchen.de/veroeff/html/SFB/992.34006.html},
pdf = {1999-hoppe-etal.pdf},
}
@ARTICLE{HeimvonStryk:2000,
author = {A. Heim and O. von Stryk},
title = {Trajectory optimization of industrial robots with application to computer-aided robotics and robot controllers},
journal = {Optimization},
year = {2000},
volume = {47},
pages = {407-420},
pdf = {1999-heimvstryk.pdf},
}
@INPROCEEDINGS{CLAWAR:2000,
author = {M. Hardt and O. von Stryk},
title = {Towards optimal hybrid control solutions for gait patterns of a quadruped},
year = {2000},
pages = {385-392},
month = {Oktober 2 - 4},
publisher = {Bury St. Edmunds and London, UK: Professional Engineering Publishing},
editor = {M. Armada, P. Gonzalez de Santos},
address = {Madrid},
booktitle = {Proc. CLAWAR 2000 - 3rd International Conference on Climbing and Walking Robots},
url = {http://www.iai.csic.es/clawar2000/},
pdf = {2000-clawar.pdf},
abstract = {We consider the problem of finding optimal gaits for a quadruped robot. Paths are sought which minimize the actuation energy required for walking in an attempt to approximate natural motion. The number of possible gaits for a quadruped is quite large when one considers varied orders of leg motion, different liftoff times, and various ground contact combinations for the legs. The problem is treated as a fully nonlinear optimal hybrid path planning problem on a 22-dimensional state space. Modeling aspects, our numerical approach, and experimental results are discussed in this paper.},
}
@INPROCEEDINGS{LNCS:2000,
author = {T. Butz and O. von Stryk and T.-M. Wolter},
title = {A parallel optimization scheme for parameter estimation in motor vehicle dynamics},
year = {2000},
volume = {1900},
pages = {829-834},
publisher = {Springer-Verlag},
editor = {A. Bode, T. Ludwig, W. Karl, R. Wismüller},
series = {Lecture Notes in Computer Science},
booktitle = {Euro-Par 2000 - Parallel Processing},
pdf = {2000-butz_etal.pdf},
}
@ARTICLE{SIAM:2000,
author = {T. Butz and O. von Stryk and M. Vögel and T.-M. Wolter and C. Chucholowski},
title = {Parallel parameter estimation in full motor vehicle dynamics},
journal = {Cover story of SIAM News/Applications on Advanced Architecture Computers},
year = {2000},
volume = {33},
number = {4},
pages = {1-5},
month = {May},
note = { The video of the article is also available from the SIAM website (http://www.siam.org/siamnews/05-00/animations/)},
pdf = {2000-siamnews.pdf},
}
@ARTICLE{BussvonStrykBulirschSchmidt:2000,
author = {M. Buss and O. von Stryk and R. Bulirsch and G. Schmidt},
title = {Towards hybrid optimal control},
journal = {at-Automatisierungstechnik},
year = {2000},
volume = {48},
number = {9},
pages = {448-459},
url = {http://www.oldenbourg.de/cgi-bin/roabstracts?A=1494},
pdf = {2000-at.pdf},
abstract = {In this article a general class of hybrid optimal control problems with continuous and discrete state variables and control inputs is defined. After a brief review of conventional optimal control, major novel challenges resulting from the hybrid nature are discussed. Some application problems are comparatively easy to solve because of the fixed or known sequence of discrete events; however, if the number and the sequence of discrete phases is not known a priori, the solution must then be found among a combinatorial number of possible sequence candidates. The article presents several preliminary approaches to the (numerical) solution of hybrid optimal control problems by hybrid dynamic programming, by decomposition using branch-and-bound, or fixing transversality conditions to obtain suboptimal solutions. The last two methods rely on the capabilities of the direct collocation method DIRCOL to solving multi-phase optimal control problems robustly and efficiently. Results obtained by the proposed methods are presented in two examples: an underactuated robotic system with a holding brake as the discrete component, and a hybrid, motorized traveling salesman problem. },
}
@TECHREPORT{DIRCOL,
author = {O. von Stryk},
title = {User`s Guide for DIRCOL (Version 2.1): A direct collocation method for the numerical solution of optimal control problems},
year = {1999},
month = {November},
address = {Technische Universität Darmstadt},
institution = {Fachgebiet Simulation und Systemoptimierung},
pdf = {1999-dircol-2.1-guide-short.pdf},
}
@ARTICLE{vonStrykVoegel:1999,
author = {O. von Stryk and M. Vögel},
title = {A guidance scheme for full car dynamics simulations},
journal = {ZAMM: Zeitschrift für angewandte Mathematik und Mechanik},
year = {1999},
volume = {79},
number = {Suppl. 2},
pages = {363-364},
pdf = {1998-gamm.pdf},
}
@TECHREPORT{vonStryk-CCG:1999,
author = {O. von Stryk},
title = {Numerische Verfahren zur Parameteridentifikation in Mehrkörpersystemen},
year = {1999},
month = {March 8-11},
note = {64 pages},
institution = {Manuskript zum Lehrgang TV 1.03 der Carl-Cranz-Gesellschaft e.V., Weßling-Oberpfaffenhofen},
}
@INPROCEEDINGS{LNCSE:1999-2,
author = {G. Engl and A. Kröner and T. Kronseder and O. von Stryk},
title = {Numerical simulation and optimal control of air separation plants},
year = {1999},
volume = {8},
pages = {221-231},
publisher = {Springer-Verlag},
editor = {H.-J. Bungartz, F. Durst, Chr. Zenger},
booktitle = {High Performance Scientific and Engineering Computing. Lecture Notes in Computational Science and Engineering},
pdf = {1998-fortwihr-linde.pdf},
}
@INPROCEEDINGS{LNCSE:1999,
author = {C. Chucholowski and M. Vögel and O. von Stryk and T.-M. Wolter},
title = {Real time simulation and online control for virtual test drives of cars},
year = {1999},
volume = {8},
pages = {157-166},
publisher = {Springer-Verlag},
editor = {H.-J. Bungartz, F. Durst, Chr. Zenger},
booktitle = {High Performance Scientific and Engineering Computing. Lecture Notes in Computational Science and Engineering},
pdf = {1998-fortwihr-tesis.pdf},
}
@ARTICLE{vonStryk:1998,
author = {O. von Stryk},
title = {Optimal control of multibody systems in minimal coordinates},
journal = {ZAMM: Zeitschrift für Angewandte Mathematik und Mechanik},
year = {1998},
volume = {78},
number = {Suppl. 3},
pages = {1117-1120},
pdf = {1997-gamm.pdf},
}
@TECHREPORT{KoslikRillvonStrykZampieri:1998,
author = {B. Koslik and G. Rill and O. von Stryk and D. Zampieri},
title = {Active suspension design for a tractor by optimal control methods},
year = {1998},
note = {23 S., Eingereicht bei: Optimal Control, Applications and Methods},
type = {Preprint SFB-438-9801},
institution = {Sonderforschungsbereich 438, Technische Universität München - Universität Augsburg},
keywords = {optimal active suspension; steady-state LQR problem; closed-loop solution; open-loop solution; direct transcription method},
pdf = {1998-tractor.pdf},
abstract = {An active suspension system for improving the ride comfort and safety of a tractor is investigated. The underlying planar dynamic tractor model and a suitable objective for optimal suspension are introduced. The problem of optimal active suspension leads to a linear-quadratic optimal control problem. Classical Linear-Quadratic Regulator (LQR) theory provides a closed-loop control for the steady state problem which is optimal only for an initial disturbance input from the road. A direct transcription method can handle more general disturbances and models but provides only an open-loop solution, where the time history of the optimal control is given along the optimal trajectory for one type of deterministic disturbance and initial value only. Simulation results for two different road disturbances are given comparing both approaches.},
}
@INPROCEEDINGS{HeimvonStryketal:1996,
author = {A. Heim and O. von Stryk and H.J. Pesch and H. Schäffler and K. Scheuer},
title = {Parameteridentifikation, Bahnoptimierung und Echtzeitsteuerung von Robotern in der industriellen Anwendung},
year = {1997},
pages = {551-564},
publisher = {Springer},
editor = {K.-H. Hoffmann, T. Lohmann, W. Jäger, H. Schunck},
booktitle = {Mathematik - Schlüsseltechnologie für die Zukunft},
pdf = {1996-bmbf.pdf},
}
@INPROCEEDINGS{BreitnerRettigvonStryk:1997,
author = {M.H. Breitner and U. Rettig and O. von Stryk},
title = {Robust optimal control with large neural networks emulated on the neuro-computer board SYNAPSE-PC},
year = {1997},
pages = {487-492},
publisher = {Wissenschaft & Technik, Berlin},
editor = {A. Sydow},
booktitle = {Application in Modelling and Simulation},
}
@INPROCEEDINGS{AnzillvonStryk:1994,
author = {W. Anzill and O. von Stryk},
title = {Optimum design of microwave oscillators with minimized phase noise},
year = {1996},
pages = {301-306},
publisher = {J. Wiley & Sons Ltd and B. G. Teubner},
editor = {H. Neunzert},
booktitle = {Progress in Industrial Mathematics at ECMI 94},
pdf = {1994-ecmi.pdf},
}
@TECHREPORT{HeimvonStryk:1996,
author = {A. Heim and O. von Stryk},
title = {Documentation of PAREST - A multiple shooting code for optimization problems in differential-algebraic equations},
year = {1996},
note = {31 Seiten},
type = {Report TUM-M9616},
institution = {Mathematisches Institut, Technische Universität München},
pdf = {1996-parest.pdf},
}
@ARTICLE{AnzillvonStrykBulirschRusser:1994,
author = {W. Anzill and O. von Stryk and R. Bulirsch and P. Russer},
title = {Phase noise minimization of microwave oscillators by optimal design},
journal = {IEEE MTT-S Digest, Orlando, Florida, USA},
year = {1995},
pages = {1565-1568},
pdf = {1995-mtts.pdf},
}
@ARTICLE{BreitnerKoslikvonStrykPesch:1994,
author = {M. H. Breitner and B. Koslik and O. von Stryk and H. J. Pesch},
title = {Iterative design of economic models via simulation, optimization and modeling},
journal = {Mathematics and Computers in Simulation},
year = {1995},
volume = {39},
pages = {527-532},
month = {Feb. 2-4},
pdf = {1994-vienna.pdf},
}
@BOOK{1994:vonStrykDISSVDI,
author = {O. von Stryk},
title = {Numerische Lösung optimaler Steuerungsprobleme: Diskretisierung, Parameteroptimierung und Berechnung der adjungierten Variablen.},
year = {1994},
number = {441},
publisher = {VDI Verlag},
editor = { },
series = {Fortschritt-Berichte VDI, Reihe 8: Meß-, Steuer- und Regelungstechnik},
address = {Düsseldorf},
pdf = {1994-diss.pdf},
pdf_short = {1994-diss-abstract.pdf},
}
@INPROCEEDINGS{vonStrykSchlemmer:1993,
author = {O. von Stryk and M. Schlemmer},
title = {Optimal control of the industrial robot Manutec r3},
year = {1994},
volume = {115},
pages = {367-382},
publisher = {Basel: Birkhäuser},
editor = {R. Bulirsch, D. Kraft},
booktitle = {Computational Optimal Control, International Series of Numerical Mathematics},
pdf = {1993-manutec.pdf},
}
@INPROCEEDINGS{vonStryk:1994,
author = {O. von Stryk},
title = {Optimization of dynamic systems in industrial applications},
year = {1994},
pages = {347-351},
month = {Sep. 20-23},
editor = {H. J. Zimmermann},
address = {Aachen, Germany},
booktitle = {Proc. 2nd European Congress on Intelligent Techniques and Soft Computing (EUFIT)},
pdf = {1994-eufit.pdf},
}
@ARTICLE{KiehlvonStryk:1994,
author = {M. Kiehl and O. von Stryk},
title = {Generalized necessary conditions for optimal control problems of Bolza type: theory and application},
journal = {ZAMM: Zeitschrift für Angewandte Mathematik und Mechanik},
year = {1994},
volume = {74},
number = {6},
pages = {T591-T593},
}
@INCOLLECTION{vonStrykPeschBulirsch:1993,
author = {O. von Stryk and H. J. Pesch and R. Bulirsch},
title = {Zeit ist Geld? Nicht für Roboter! },
year = {1993},
number = {6},
pages = {22-23},
publisher = {Technische Universität München},
booktitle = {Sonderreihe: Forschung für Bayern},
pdf = {1993-forbay.pdf},
}
@INPROCEEDINGS{vonStryk:1993,
author = {O. von Stryk},
title = {Numerical solution of optimal control problems by direct collocation},
year = {1993},
volume = {111},
pages = {129-143},
publisher = {Birkhäuser},
editor = {R. Bulirsch, A. Miele, J. Stoer, K. H. Well},
series = {International Series of Numerical Mathematics},
address = {Basel},
booktitle = {Optimal Control - Calculus of Variations, Optimal Control Theory and Numerical Methods},
pdf = {1991-dircol.pdf},
abstract = {By an appropriate discretization of control and state variables, a constrained optimal control problem is transformed into a finite dimensional nonlinear program which can be solved by standard SQP-methods~\\cite{Gilletal1986}. Convergence properties of the discretization are derived. From a solution of this method known as direct collocation, these properties are used to obtain reliable estimates of adjoint variables. In the presence of active state constraints, these estimates can be significantly improved by including the switching structure of the state constraint into the optimization procedure. Two numerical examples are presented.},
}
@INPROCEEDINGS{BreitnerKoslikvonStrykPesch:1993,
author = {M. H. Breitner and B. Koslik and O. von Stryk and H. J. Pesch},
title = {Optimal control of investment, level of employment and stockkeeping},
year = {1993},
pages = {60-63},
publisher = {Heidelberg: Physica Verlag},
editor = {A. Bachem, U. Derigs, M. Jünger, R. Schrader},
booktitle = {Operations Research "93},
pdf = {1993-koeln.pdf},
}
@INPROCEEDINGS{BulirschNerzPeschvonStryk:1991,
author = {R. Bulirsch and E. Nerz and H. J. Pesch and O. von Stryk},
title = {Combining direct and indirect methods in optimal control: range maximization of a hang glider},
year = {1993},
volume = {111},
pages = {273-288},
publisher = {Basel: Birkhäuser},
editor = {R. Bulirsch, A. Miele, J. Stoer, K.-H. Well},
booktitle = {Optimal Control - Calculus of Variations, Optimal Control Theory and Numerical Methods, International Series of Numerical Mathematics},
}
@ARTICLE{vonStrykBulirsch:1992,
author = {O. von Stryk and R. Bulirsch},
title = {Direct and indirect methods for trajectory optimization},
journal = {Annals of Operations Research},
year = {1992},
volume = {37},
pages = {357-373},
pdf = {1992-directindirect.pdf},
}
@ARTICLE{KiehlvonStryk:1992,
author = {M. Kiehl and O. von Stryk},
title = {Real-time optimization of a hydroelectric power plant},
journal = {Computing},
year = {1992},
volume = {49},
pages = {171-191},
pdf = {1992-KiehlvonStryk.pdf},
}