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Stefan Ulbrich

Dipl.-Inform. Stefan Ulbrich

Wissenschaftlicher Mitarbeiter
Selbstexploration und Hand-Auge-Koordination bei Humanoiden Robotern
Gruppe: Humanoids
Sprechstunden: Auf Anfrage
Raum: 323, Geb. 50.20
Tel.: +49 721 608 45336
Fax: +49 721 608 48270
stefan ulbrichRvy6∂kit edu

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    AuthorTitleYearJournal/Proceedings
    Asfour, T. Towards High-Performance 24/7 Cognitive Humanoids
    [BibTeX]
    2011 Berlin Summit on Robotics, pp. 53-61 
    Asfour, T., Azad, P., Gyarfas, F. & Dillmann, R. Imitation Learning of Dual-Arm Manipulation Tasks in Humanoid Robots
    [BibTeX][PDF]
    2008 International Journal of Humanoid Robotics
    Vol. 5(2), pp. 183-202 
    Asfour, T., Azad, P., Vahrenkamp, N., Regenstein, K., Bierbaum, A., Welke, K., Schröder, J. & Dillmann, R. Toward Humanoid Manipulation in Human-Centred Environments
    [BibTeX][PDF]
    2008 Robotics and Autonomous Systems
    Vol. 56, pp. 54-65 
    Asfour, T., Berns, K. & Dillmann, R. The Humanoid Robot ARMAR
    [BibTeX][PDF]
    1999 The Second International Symposium in HUmanoid RObots (HURO'99), pp. 174-180 
    Asfour, T., Berns, K., Schelling, J. & Dillmann, R. Programming of Manipulation Tasks of the Humanoid Robot ARMAR
    [BibTeX][PDF]
    1999 The Ninth International Conference on Advanced Robotics (ICAR'99), pp. 107-112 
    Asfour, T. & Dillmann, R. Human-like Motion of a Humanoid Robot Arm Based on Closed-Form Solution of the Inverse Kinematics Problem.
    [BibTeX][PDF]
    2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 407-1412 
    Asfour, T., Do, M., Welke, K., Bierbaum, A., Azad, P., Vahrenkamp, N., Gärtner, S., Ude, A. & Dillmann, R. From sensorimotor primitives to manipulation and imitation strategies in humanoid robots
    [BibTeX]
    2011 Springer Tracts in Advanced Robotics
    Vol. 70(STAR), pp. 363-378 
    Asfour, T., Do, M., Welke, K., Bierbaum, A., Azad, P., Vahrenkamp, N., Gärtner, S., Ude, A. & Dillmann, R. From Sensorimotor Primitives to Manipulation and Imitation Strategies in Humanoid Robots.
    [BibTeX]
    2009
    Vol. 70International Symposium on Robotics Research (ISRR), pp. 363-378 
    Asfour, T., Gyarfas, F., Azad, P. & Dillmann, R. Imitation Learning of Dual-Arm Manipulation Tasks in Humanoid Robots
    [BibTeX][PDF]
    2006 IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 40-47 
    Asfour, T., Ly, D., Regenstein, K. & Dillmann, R. Coordinated Task Execution for Humanoid Robots
    [BibTeX]
    2006
    Vol. 21Experimental Robotics IX, pp. 259-267 
    Asfour, T., Ly, D., Regenstein, K. & Dillmann, R. Coordinated Task Execution for Humanoid Robots
    [BibTeX][PDF]
    2004 The International Symposium on Experimental Robots, pp. 259-267 
    Asfour, T., Regenstein, K., Azad, P., Schröder, J. & Dillmann, R. ARMAR-III: A Humanoid Platform for Perception-Action Integration
    [BibTeX][PDF]
    2006 2nd International Workshop on Human-Centered Robotic Systems (HCRS) 
    Asfour, T., Regenstein, K., Azad, P., Schröder, J., Vahrenkamp, N. & Dillmann, R. ARMAR-III: An Integrated Humanoid Platform for Sensory-Motor Control
    [BibTeX][PDF]
    2006 IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 169-175 
    Asfour, T., Ude, A., Berns, K. & Dillmann, R. Control of ARMAR for the Realization of Anthropomorphic Motion Patterns.
    [BibTeX][PDF]
    2001 IEEE/RAS International Conference on Humanoid Robots (Humanoids) 
    Asfour, T., Welke, K., Azad, P., Ude, A. & Dillmann, R. The Karlsruhe Humanoid Head
    [BibTeX][PDF]
    2008 IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 447-453 
    Asfour, T., Welke, K., Ude, A., Azad, P. & Dillmann, R. Perceiving Objects and Movements to Generate Actions on a Humanoid Robot
    [BibTeX][PDF]
    2008 Lecture Notes in Electrical Engineering
    Vol. 8Unifying Perspectives in Computational and Robot Vision, pp. 41-55 
    Azad, P., Asfour, T. & Dillmann, R. Combining Harris Interest Points and the SIFT Descriptor for Fast Scale-Invariant Object Recognition
    [BibTeX][PDF]
    2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 4275-4280 
    Azad, P., Asfour, T. & Dillmann, R. Accurate Shape-based 6-DoF Pose Estimation of Single-colored Objects
    [BibTeX][PDF]
    2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2690-2695 
    Azad, P., Asfour, T. & Dillmann, R. Stereo-based vs. Monocular 6-DoF Pose Estimation using Point Features: A Quantitative Comparison
    [BibTeX][PDF]
    2009 Autonome Mobile Systeme (AMS), pp. 41-48 
    Azad, P., Asfour, T. & Dillmann, R. Stereo-basierte vs. Monokulare 6-DoF Lagebestimmung unter Verwendung von Punktmerkmalen
    [BibTeX][PDF]
    2009 3D-NordOst, pp. 15-24 
    Azad, P., Asfour, T. & Dillmann, R. Robust Real-time Stereo-based Markerless Human Motion Capture
    [BibTeX][PDF]
    2008 IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 700-707 
    Azad, P., Asfour, T. & Dillmann, R. Stereo-based 6D Object Localization for Grasping with Humanoid Robot Systems
    [BibTeX][PDF]
    2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 919-924 
    Azad, P., Asfour, T. & Dillmann, R. Toward an Unified Representation for Imitation of Human Motion on Humanoids
    [BibTeX][PDF]
    2007 IEEE International Conference on Robotics and Automation (ICRA), pp. 2558-2563 
    Azad, P., Asfour, T. & Dillmann, R. Combining Appearance-based and Model-based Methods for Real-Time Object Recognition and 6D Localization
    [BibTeX][PDF]
    2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5339-5344 
    Azad, P. & Gockel, T. Flash-Board als Schachcomputer -- Deep Evelyn -- der Gewinner im Flash-Board-Wettbewerb
    [BibTeX]
    2003 Elektor Elektronik & Computertechnik
    Vol. 422 
    Azad, P., Gockel, T. & Dillmann, R. Computer Vision -- Principles and Practice
    [BibTeX]
    2008  
    Azad, P., Gockel, T. & Dillmann, R. Gesichtskontrolle -- Biometrie per Webcam selbstgemacht
    [BibTeX]
    2008 c't Magazin für Computer Technik
    Vol. 13, pp. 168-175 
    Azad, P., Gockel, T. & Dillmann, R. Computer Vision -- Das Praxisbuch
    [BibTeX]
    2007  
    Azad, P., Gockel, T. & Dillmann, R. 3D Shape Acquisition using a Combined SSD and Least Squares Correlation Approach
    [BibTeX][PDF]
    2004 International Conference on Coding and Computing (ITCC), pp. 367-371 
    Azad, P., Münch, D., Asfour, T. & Dillmann, R. 6-DoF Model-based Tracking of Arbitrarily Shaped 3D Objects
    [BibTeX][PDF]
    2011 IEEE International Conference on Robotics and Automation (ICRA) 
    Azad, P., Ude, A., Asfour, T., Cheng, G. & Dillmann, R. Image-based Markerless 3D Human Motion Capture using Multiple Cues
    [BibTeX][PDF]
    2006 International Workshop on Vision Based Human-Robot Interaction 
    Azad, P., Ude, A., Asfour, T. & Dillmann, R. Stereo-based Markerless Human Motion Capture for Humanoid Robot Systems
    [BibTeX][PDF]
    2007 IEEE International Conference on Robotics and Automation (ICRA), pp. 3951-3956 
    Azad, P., Ude, A., Dillmann, R. & Cheng, G. A Full Body Human Motion Capture System using Particle Filtering and On-The-Fly Edge Detection
    [BibTeX][PDF]
    2004 IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 941-959 
    Böge, C., Vahrenkamp, N., Asfour, T. & Dillmann, R. Visual Servoing for Single and Dual Arm Manipulation Tasks in Humanoid Robot
    [BibTeX][PDF]
    2012 at - Automatisierungstechnik
    Vol. 60(5), pp. 309-317 
    Bertram, D., Kuffner, J., Dillmann, R. & Asfour, T. An Integrated Approach to Inverse Kinematics and Path Planning for Redundant Manipulators
    [BibTeX][PDF]
    2006 IEEE International Conference on Robotics and Automation (ICRA), pp. 1874-1879 
    Bierbaum, A., Asfour, T. & Dillmann, R. Dynamic Potential Fields for Dexterous Tactile Exploration
    [BibTeX][PDF]
    2009
    Vol. 6Human Centered Robot Systems, pp. 23-31 
    Bierbaum, A., Asfour, T. & Dillmann, R. IPSA - Inventor Physics Modeling API for Dynamics Simulation in Manipulation
    [BibTeX][PDF]
    2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on robot simulators 
    Bierbaum, A., Gubarev, I. & Dillmann, R. Robust Shape Recovery for Sparse Contact Location and Normal Data from Haptic Exploration
    [BibTeX][PDF]
    2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3200-3205 
    Bierbaum, A., Piaseczki, A., Schröder, J. & Azad, P. Embedded Robotics -- Das Praxisbuch
    [BibTeX]
    2005  
    Bierbaum, A., Rambow, M., Asfour, T. & Dillmann, R. Grasp Affordances from Multi-Fingered Tactile Exploration using Dynamic Potential Fields
    [BibTeX][PDF]
    2009 IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 168 - 174 
    Bierbaum, A., Rambow, M., Asfour, T. & Dillmann, R. A Potential Field Approach to Dexterous Tactile Exploration
    [BibTeX][PDF]
    2008 IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 360 - 366 
    Bierbaum, A., Schill, J., Asfour, T. & Dillmann, R. Force Position Control for a Pneumatic Anthropomorphic Hand
    [BibTeX][PDF]
    2009 IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 21 - 27 
    Bierbaum, A., Welke, K., Burger, D., Asfour, T. & Dillmann, R. A Framework for Visually guided Haptic Exploration with Five Finger Hands
    [BibTeX][PDF]
    2007 2007 Robotics: Science and Systems (RSS)– Workshop: Robot Manipulation: Sensing and Adapting to the Real World, pp. 674-676 
    Bierbaum, A., Welke, K., Burger, D., Asfour, T. & Dillmann, R. Haptic Exploration for 3D Shape Reconstruction using Five-Finger Hands
    [BibTeX][PDF]
    2007 IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 616 - 621 
    Bohg, J., Welke, K., Leon, B., Do, M., Song, D., Wohlkinger, W., Madry, M., Aldoma, A., Przybylski, M., Asfour, T., Marti, H., Kragic, D., Morales, A. & Vincze, M. Task-based Grasp Adaptation on a Humanoid Robot
    [BibTeX]
    2012 10th IFAC Symposium on Robot Control (SYROCO 2012) 
    Burghart, C., Mikut, R., Stiefelhagen, R., Asfour, T., Holzapfel, H., Steinhaus, P. & Dillmann, R. A Cognitive Architecture for a Humanoid Robot: A First Approach
    [BibTeX][PDF]
    2005 IEEE/RAS International Conference on Humanoid Robots (Humanoids) 
    Dillmann, R. & Asfour, T. Collaborative Research Center on Humanoid Robots (SFB 588)
    [BibTeX][PDF]
    2008 KI - Zeitschrift Künstliche Intelligenz
    Vol. 4, pp. 26-28 
    Dillmann, R., Asfour, T. & Berns, K. Design and Control of a Humanoid Typ 2-Arm Robot System
    [BibTeX]
    2000 World Automation Congress (WAC 2000) 
    Dillmann, R., Asfour, T., Cheng, G. & Ude, A. Toward Cognitive Humanoid Robots
    [BibTeX]
    2008 International Journal of Humanoid Robots
    Vol. 5(2) 
    Dillmann, R., Steinhaus, P., Asfour, T. & Pardowitz, M. Lernende humanoide Roboter in Alltagsumgebungen
    [BibTeX]
    2007 it -- Information Technology
    Vol. 49(4), pp. 224-231 
    Do, M., Asfour, T. & Dillmann, R. Towards a Unifying Grasp Representation for Imitation Learning on Humanoid Robots
    [BibTeX][PDF]
    2011 IEEE International Conference on Robotics and Automation (ICRA), pp. 482-488 
    Do, M., Asfour, T. & Dillmann, R. Particle Filter-Based Fingertip Tracking with Circular Hough Transform Features
    [BibTeX][PDF]
    2011 IAPR Machine Vision Applications (MVA'11) 
    Do, M., Azad, P., Asfour, T. & Dillmann, R. Imitation of Human Motion on a Humanoid Robot using Nonlinear Optimization
    [BibTeX][PDF]
    2008 IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 545-552 
    Do, M., Romero, J., Kjellström, H., Azad, P., Asfour, T., Kragic, D. & Dillmann, R. Grasp Recognition and Mapping on Humanoid Robots
    [BibTeX][PDF]
    2009 IEEE/RAS International Conference on Humanoid Robots (Humanoids) 
    Fukaya, N., Toyama, S., Asfour, T. & Dillmann, R. Design of the TUAT/Karlsruhe Humanoid Hand.
    [BibTeX][PDF]
    2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 
    Fukaya, N., Toyama, S., Asfour, T. & Dillmann, R. Design of a Humanoid Hand for Human Friendly Robotics Applications.
    [BibTeX][PDF]
    2000 International Conference on Machine Automation (ICMA2000) 
    Ga)rtner, S., Do, M., Simonidis, C., Asfour, T., Seemann, W. & Dillmann, R. Generation of Human-like Motion for Humanoid Robots Based on Marker-based Motion Capture Data
    [BibTeX]
    2010 41th International Symposium on Robotics (ISR) 
    Gaiser, I., Schulz, S., Kargov, A., Klosek, H., Bierbaum, A., Pylatiuk, C., Oberle, R., Werner, T., Asfour, T., Bretthauer, G. & Dillmann, R. A New Anthropomorphic Robotic Hand
    [BibTeX]
    2008 IEEE/RAS International Conference on Humanoid Robots (Humanoids) 
    Gams, A., Do, M., Ude, A., Asfour, T. & Dillmann, R. On-Line Periodic Movement and Force-Profile Learning for Adaptation to New Surfaces
    [BibTeX][PDF]
    2010 IEEE/RAS International Conference on Humanoid Robots (Humanoids) 
    Gockel, T., Ahlmann, J., Dillmann, R. & Azad, P. 3D Vision Sensing for Grasp Planning: A New, Robust and Affordable Structured Light Approach
    [BibTeX][PDF]
    2005 IEEE International Conference on Robotics and Automation (ICRA), pp. 2529-2534 
    Gockel, T., Azad, P. & Dillmann, R. Calibration Issues for Projector-based 3D-Scanning
    [BibTeX][PDF]
    2004 International Conference on Shape Modeling and Applications (SMI), pp. 367-370 
    Gockel, T., Azad, P. & Dillmann, R. 3D-Modellerfassung mittels eines innovativen One-Shot-Musterprojektionsverfahrens
    [BibTeX][PDF]
    2004 3D-NordOst-Workshop 
    Gockel, T., Taminé, O., Azad, P. & Dillmann, R. EduKaBot -- Aufbau eines edukativen Roboter-Baukastensystems
    [BibTeX][PDF]
    2003 Autonome Mobile Systeme (AMS), pp. 311-321 
    Goldman, R.P., Geib, C.W., Kautz, H. & Asfour, T. Plan Recognition (Dagstuhl Seminar 11141)
    [BibTeX]
    2011 Dagstuhl Reports
    Vol. 1(4), pp. 1-22 
    Gonzalez-Aguirre, D., Asfour, T., Bayro-Corrochano, E. & Dillmann, R. Model-Based Visual Self-Localization Using Gaussian Spheres
    [BibTeX][PDF]
    2009 , pp. 299-324 
    Gonzalez-Aguirre, D., Asfour, T., Bayro-Corrochano, E. & Dillmann, R. Model-Based Visual Self-Localization Using Geometry and Graphs
    [BibTeX][PDF]
    2008 International Conference on Pattern Recognition, ICPR 2008, Tampa Florida-USA., pp. 1-5 
    Gonzalez-Aguirre, D., Asfour, T. & Dillmann, R. Robust Image Acquisition for Vision-Model Coupling by Humanoid Robots
    [BibTeX][PDF]
    2011 MVA2011 IAPR Conference on Machine Vision Applications, June 13-15,2011, Nara, JAPAN, pp. 557-561 
    Gonzalez-Aguirre, D., Asfour, T. & Dillmann, R. Towards stratified model-based environmental visual perception for humanoid robots
    [BibTeX][PDF]
    2010 Pattern Recognition Letters, Special Issue on Advances in Theory and Applications of Pattern Recognition, Image Processing and Computer Vision.
    Vol. Volume 32, Issue 16, Available online 13 October 2010, pp. 2254-2260 
    Gonzalez-Aguirre, D., Asfour, T. & Dillmann, R. Eccentricity Edge-Graphs from HDR Images for Object Recognition by Humanoid Robots
    [BibTeX][PDF]
    2010 Humanoid Robots (Humanoids), 2010 10th IEEE-RAS International Conference on, pp. 144 -151 
    Gonzalez-Aguirre, D., Hoch, J., Rohl, S., Asfour, T., Bayro-Corrochano, E. & Dillmann, R. Towards shape-based visual object categorization for humanoid robots
    [BibTeX][PDF]
    2011 Robotics and Automation (ICRA), 2011 IEEE International Conference on, pp. 5226-5232 
    Gonzalez-Aguirre, D., Wieland, S., Asfour, T. & Dillmann, R. On Environmental Model-Based Visual Perception for Humanoids
    [BibTeX][PDF]
    2009 AGACSE, Applied Geometric Algebras in Computer Science and Engineering 
    Gonzalez-Aguirre, D., Wieland, S., Asfour, T. & Dillmann, R. Improving Model-Based Visual Self-Localization Using Gaussian Spheres
    [BibTeX][PDF]
    2008 AGACSE, Applied Geometric Algebras in Computer Science and Engineering 
    Gorges, N., Bierbaum, A., Wörn, H. & Dillmann, R. Towards a comprehensive grasping system for Armar-III
    [BibTeX][PDF]
    2006 Human-Centered Robotic Systems (HCRS´06) 
    Hecht, F., Azad, P., Asfour, T. & Dillmann, R. Markerless Human Motion Tracking with a Flexible Model and Appearance Learning
    [BibTeX][PDF]
    2009 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2009) 
    Herzog, A., Pastor, P., Kalakrishnan, M., Righetti, L., Asfour, T. & Schaal, S. Template-Based Learning of Grasp Selection
    [BibTeX][PDF]
    2011 Proceedings IROS-2011 Workshop ``The PR2 Workshop -Results, Challenges and Lessons Learned in Advancing Robots with a Common Platform'' 
    Huebner, K., Welke, K., Przybylski, M., Vahrenkamp, N., Asfour, T., Kragic, D. & Dillmann, R. Grasping known objects with humanoid robots: A box-based approach
    [BibTeX][PDF]
    2009 Advanced Robotics, 2009. ICAR 2009. International Conference on, pp. 1-6 
    Kaiser, P., Berenson, D., Vahrenkamp, N., Asfour, T., Dillmann, R. & Srinivasa, S. Constellation - An Algorithm for Finding Robot Configurations that Satisfy Multiple Constraints
    [BibTeX][PDF]
    2012 IEEE International Conference on Robotics and Automation (ICRA) 
    Kappler, D., Chang, L., Przybylski, M., Pollard, N., Asfour, T. & Dillmann, R. Representation of Pre-Grasp Strategies for Object Manipulation
    [BibTeX][PDF]
    2010 IEEE/RAS International Conference on Humanoid Robots (Humanoids) 
    Kappler, D., Chang, L.Y., Pollard, N.S., Asfour, T. & Dillmann, Rü. Templates for pre-grasp sliding interactions
    [BibTeX]
    2012 Robotics and Autonomous Systems
    Vol. 60(3), pp. 411-423 
    Kargov, A., Asfour, T., Pylatiuk, C., Oberle, R., Klosek, H., Schulz, S., Regenstein, K., Bretthauer, G. & Dillmann, R. Development of an Anthropomorphic Hand for a Mobile Assistive Robot
    [BibTeX]
    2005 9th International Conference on Rehabilitation Robotics 
    Krüger, N., Geib, C., Piater, J., Petrick, R., Steedman, M., Wörgötter, F., Ude, A., Asfour, T., Kraft, D., Omrčen, D., Agostini, A. & Dillmann, R. Object-Action Complexes: Grounded Abstractions of Sensorimotor Processes
    [BibTeX]
    2011 Robotics and Autonomous Systems
    Vol. 59, pp. 740-757 
    Kraft, D., Bierbaum, A., Kjaergaard, M., Ratkevicius, J., Kjaer-Nielsen, A., Ryberg, C., Petersen, H., Asfour, T., Dillmann, R. & Kruger, N. Tactile object exploration using cursor navigation sensors
    [BibTeX]
    2009 EuroHaptics conference, 2009 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2009. Third Joint, pp. 296-301 
    Kraft, F., Kilgour, K., Saam, R., Stu)cker, S., Wo)lfel, M., Asfour, T. & Waibel, A. Towards Social Integration of Humanoid Robots by Conversational Concept Learning
    [BibTeX]
    2010 IEEE/RAS International Conference on Humanoid Robots (Humanoids) 
    Lehmann, A., Mikut, R. & Asfour, T. Petri Nets for Task Supervision in Humanoid Robots
    [BibTeX]
    2006 Proc. of 37th International Symposium of Robotics (ISR) 
    Leon, B., Ulbrich, S., Diankov, R., Puche, G., Przybylski, M., Morales, A., Asfour, T., Moisio, S., Bohg, J., Kuffner, J. & Dillmann, R. OpenGRASP: A Toolkit for Robot Grasping Simulation
    [BibTeX]
    2010 2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR) 
    Ly, D., Regenstein, K., Asfour, T. & Dillmann, R. A Modular and Distributed Embedded Control Architecture for Humanoid Robots
    [BibTeX][PDF]
    2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 
    Michel, P., Scheurer, C., Kuffner, J., Vahrenkamp, N. & Dillmann, R. Planning for Robust Execution of Humanoid Motions using Future Perceptive Capability
    [BibTeX][PDF]
    2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3223-3228 
    Morales, A., Asfour, T., Azad, P., Knoop, S. & Dillmann, R. Integrated Grasp Planning and Visual Object Localization For a Humanoid Robot with Five-Fingered Hands
    [BibTeX][PDF]
    2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 5663-5668 
    Morales, A., Asfour, T., Osswald, D., Schulz, S. & Dillmann, R. Towards an Anthropomorphic Manipulator for an Assistant Humanoid Robot
    [BibTeX][PDF]
    2005 Robotics: Science and Systems - Workshop on Humanoid Manipulation 
    Morales, A., Azad, P., Asfour, T., Kraft, D., Knoop, S., Dillmann, R., Kargov, A., Pylatiuk, C. & Schulz, S. An Anthropomorphic Grasping Approach for an Assistant Humanoid Robot
    [BibTeX][PDF]
    2006 International Symposium on Robotics (ISR) 
    Omrcen, D., Böge, C., Asfour, T., Ude, A. & Dillmann, R. Autonomous Acquisition of Pushing Actions to Support Object Grasping with a Humanoid Robot
    [BibTeX][PDF]
    2009 IEEE/RAS International Conference on Humanoid Robots (Humanoids) 
    Omrcen, D., Ude, A., Welke, K., Asfour, T. & Dillmann, R. Sensorimotor Processes for Learning Object Representations
    [BibTeX][PDF]
    2007 IEEE/RAS International Conference on Humanoid Robots (Humanoids) 
    Pastor, P., Hoffmann, H., Asfour, T. & Schaal, S. Learning and Generalization of Motor Skills by Learning from Demonstration
    [BibTeX][PDF]
    2009 Proceedings of the IEEE International Conference on Robotics and Automation 
    Paul, Johny., Stechele, Walter., Kröhnert, Manfred., Asfour, Tamim. & Dillmann, Rüdiger. Invasive Computing for Robotic Vision
    [BibTeX]
    2012 Proceedings of the 17th Asia and South Pacific Design Automation Conference (ASP-DAC) 
    Popović, M., Kraft, D., Bodenhagen, L., Başeski, E., Pugeault, N., Kragic, D., Asfour, T. & Krüger, N. A strategy for grasping unknown objects based on co-planarity and colour information
    [BibTeX]
    2010 Robotics and Autonomous Systems
    Vol. 58(5), pp. 551-565 
    Prats, M., Wieland, S., Asfour, T., del Pobil, A. & Dillmann, R. Compliant Interaction in Household Environments by the Armar-III Humanoid Robot
    [BibTeX]
    2008 IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 475 - 480  
    Przybylski, M., Asfour, T. & Dillmann, R. Planning Grasps for Robotic Hands using a Novel Object Representation based on the Medial Axis Transform
    [BibTeX][PDF]
    2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 
    Przybylski, M., Asfour, T. & Dillmann, R. Unions of Balls for Shape Approximation in Robot Grasping
    [BibTeX][PDF]
    2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 
    Przybylski, M., Gilster, R., Asfour, T., Deubel, H. & Dillmann, R. Human-Inspired Selection of Grasp Hypotheses for Execution on a Humanoid Robot
    [BibTeX][PDF]
    2011 IEEE/RAS International Conference on Humanoid Robots (Humanoids) 
    Przybylski, M., Vahrenkamp, N., Asfour, T. & Dillmann, R. Grasp and Motion Planning for Humanoid Robots
    [BibTeX]
    2013 Grasping in Robotics, Springer London, pp. 329-359 
    Przybylski, M., Wächter, M., Asfour, T. & Dillmann, R. A Skeleton-based Approach to Grasp Known Objects with a Humanoid Robot
    [BibTeX]
    2012 IEEE/RAS International Conference on Humanoid Robots (Humanoids) 
    Regenstein, K., Asfour, T. & Dillmann, R. Designing a computer architecture for the humanoid robot ARMAR-III
    [BibTeX]
    2006 Proceedings of HLR 2006, French-German Workshop on Humanoid and Legged Robots 
    Regenstein, K. & Dillmann, R. Design of an open hardware architecture for the humanoid robot ARMAR
    [BibTeX]
    2003 IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 3 
    Regenstein, K., Kerscher, T., Birkenhofer, C., Asfour, T., Zöllner, J. & Dillmann, R. A modular approach for controlling mobile robots
    [BibTeX][PDF]
    2007 Proceedings of CLAWAR2007, 10th International Conference on Climbing and Walking Robots 
    Regenstein, K., Kerscher, T., Birkenhofer, C., Asfour, T., Zöllner, J. & Dillmann, R. Universal Controller Module (UCoM) - component of a modular concept in robotic systems
    [BibTeX][PDF]
    2007 Proceedings of 2007 IEEE International Symposium on Industrial Electronics 
    Roehl, S., Speidel, S., Gonzalez-Aguirre, D., Suwelack, S., Kenngott, H., Asfour, T., Mueller-Stich, B. & Dillmann, R. From Stereo Image Sequences to Smooth and Robust Surface Models using Temporal Information and Bilateral Postprocessing
    [BibTeX]
    2011 IEEE International conference on Robotics and Biomimetics 
    Schiebener, D., Ude, A., Morimoto, J., Asfour, T. & Dillmann, R. Segmentation and learning of unknown objects through physical interaction
    [BibTeX]
    2011 Humanoid Robots (Humanoids), 2011 11th IEEE-RAS International Conference on, pp. 500 -506 
    Schill, J., Laaksonen, J., Przybylski, M., Kyrki, V., Asfour, T. & Dillmann, R. Learning continuous grasp stability for a humanoid robot hand based on tactile sensing
    [BibTeX]
    2012 Biomedical Robotics and Biomechatronics (BioRob), 2012 4th IEEE RAS EMBS International Conference on, pp. 1901 -1906 
    Speidel, S., Benzko, J., Sudra, G., Azad, P., Müller-Stich, B.P., Gutt, C.N. & Dillmann, R. Automatic Classification of Minimally Invasive Instruments based on Endoscopic Image Sequences
    [BibTeX]
    2009
    Vol. 7261SPIE Medical Imaging 
    Steinbach, K., Kuffner, J., Asfour, T. & Dillmann, R. Collision and self-collision detection for humanoids based on sphere tree hierarchies.
    [BibTeX][PDF]
    2006 IEEE/RAS International Conference on Humanoid Robots (Humanoids) 
    Stilman, M., Schamburek, J., Kuffner, J. & Asfour, T. Manipulation Planning Among Movable Obstacles.
    [BibTeX][PDF]
    2007 IEEE International Conference on Robotics and Automation (ICRA) 
    Tamosiunaite, M., Asfour, T. & Wörgötter, F. Learning to reach by reinforcement learning using a receptive field based function approximation approach with continuous actions
    [BibTeX][PDF]
    2009 Biological Cybernetics
    Vol. 100, pp. 249-260 
    Ude, A. & Asfour, T. Control and recognition on a humanoid head with cameras having different field of view
    [BibTeX][PDF]
    2008 Proc. 19th IAPR Int. Conf. Pattern Recognition, pp. 1-4 
    Ude, A., Gams, A., Asfour, T. & Morimoto, J. Task-Specific Generalization of Discrete and Periodic Dynamic Movement Primitives
    [BibTeX]
    2010 Robotics, IEEE Transactions on
    Vol. 26(5), pp. 800 -815 
    Ude, A., Gams, A., Asfour, T. & Morimoto, J. Task-Specific Generalization of Discrete and Periodic Dynamic Movement Primitives
    [BibTeX]
    2010 IEEE Transactions on Robotics
    Vol. 26(5), pp. 800 - 815 
    Ude, A., Riley, M., Nemec, B., Asfour, T. & Cheng, G. Synthesizing Goal-Directed Actions from a Library of Example Movements
    [BibTeX][PDF]
    2007 IEEE/RAS International Conference on Humanoid Robots (Humanoids) 
    Ulbrich, S., Bechtel, M., Asfour, T. & Dillmann, R. Learning Robot Dynamics with Kinematic Bézier Maps
    [BibTeX][PDF]
    2012 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 
    Ulbrich, S., Kappler, D., Asfour, T., Vahrenkamp, N., Bierbaum, A., Przybylski, M. & Dillmann, R. The OpenGRASP Benchmarking Suite: An Environment for the Comparative Analysis of Grasping and Dexterous Manipulation
    [BibTeX]
    2011 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 
    Ulbrich, S., Ruiz, V., Asfour, T., Torras, C. & Dillmann, R. General Kinematics Decomposition without Intermediate Markers
    [BibTeX][PDF]
    2012 IEEE Transactions on Neural Networks and Learning Systems
    Vol. 23(4), pp. 620-630 
    Ulbrich, S., Ruiz, V., Asfour, T., Torras, C. & Dillmann, R. Kinematic Bézier Maps
    [BibTeX][PDF]
    2012 IEEE Transactions on Systems, Man, and Cybernetics
    Vol. 42(4), pp. 1215-1230 
    Ulbrich, S., Ruiz, V., Asfour, T., Torras, C. & Dillmann, R. Rapid learning of Humanoid Body Schemas with Kinematic Bezier Maps
    [BibTeX][PDF]
    2009 IEEE/RAS International Conference on Humanoid Robots (Humanoids) 
    Vahrenkamp, N., Asfour, T. & Dillmann, R. Efficient Motion and Grasp Planning for Humanoid Robots
    [BibTeX][PDF]
    2010 Motion Planning for Humanoid Robots, pp. 129-160 
    Vahrenkamp, N., Asfour, T. & Dillmann, R. Efficient Inverse Kinematics Computation based on Reachability Analysis
    [BibTeX][PDF]
    2012 International Journal of Humanoid Robotics 
    Vahrenkamp, N., Asfour, T. & Dillmann, R. Simultaneous Grasp and Motion Planning
    [BibTeX][PDF]
    2012 IEEE Robotics and Automation Magazine
    Vol. 19(2), pp. 43-57 
    Vahrenkamp, N., Asfour, T. & Dillmann, R. Efficient Motion Planning for Humanoid Robots using Lazy Collision Checking and Enlarged Robot Models
    [BibTeX][PDF]
    2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3062-3067 
    Vahrenkamp, N., Asfour, T., Metta, G., Sandini, G. & Dillmann, R. Manipulability Analysis
    [BibTeX][PDF]
    2012 IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 568-573 
    Vahrenkamp, N., Böge, C., Welke, K., Asfour, T., Walter, J. & Dillmann, R. Visual Servoing for Dual Arm Motions on a Humanoid Robot
    [BibTeX][PDF]
    2009 IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 208-214 
    Vahrenkamp, N., Barski, A., Asfour, T. & Dillmann, R. Planning and Execution of Grasping Motions on a Humanoid Robot
    [BibTeX][PDF]
    2009 IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 639-645 
    Vahrenkamp, N., Berenson, D., Asfour, T., Kuffner, J. & Dillmann, R. Humanoid Motion Planning for Dual-Arm Manipulation and Re-Grasping Tasks
    [BibTeX][PDF]
    2009 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2464-2470 
    Vahrenkamp, N., Do, M., Asfour, T. & Dillmann, R. Integrated Grasp and Motion Planning
    [BibTeX][PDF]
    2010 IEEE International Conference on Robotics and Automation (ICRA), pp. 2883-2888 
    Vahrenkamp, N., Kaiser, P., Asfour, T. & Dillmann, R. RDT+: A Parameter--free Algorithm for Exact Motion Planning
    [BibTeX][PDF]
    2011 IEEE International Conference on Robotics and Automation (ICRA), pp. 715-722 
    Vahrenkamp, N., Kröhnert, M., Ulbrich, S., Asfour, T., Metta, G., Dillmann, R. & Sandini, G. Simox: A Robotics Toolbox for Simulation, Motion and Grasp Planning
    [BibTeX][PDF]
    2012 International Conference on Intelligent Autonomous Systems (IAS) 
    Vahrenkamp, N., Kuhn, E., Asfour, T. & Dillmann, R. Planning Multi-Robot Grasping Motions
    [BibTeX][PDF]
    2010 IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 593-600 
    Vahrenkamp, N., Przybylski, M., Asfour, T. & Dillmann, R. Bimanual Grasp Planning
    [BibTeX][PDF]
    2011 IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 493-499 
    Vahrenkamp, N., Scheurer, C., Asfour, T., Kuffner, J. & Dillmann, R. Adaptive Motion Planning for Humanoid Robots
    [BibTeX][PDF]
    2008 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 2127-2132 
    Vahrenkamp, N., Wieland, S., Azad, P., Gonzalez-Aguirre, D., Asfour, T. & Dillmann, R. Visual Servoing for Humanoid Grasping and Manipulation Tasks
    [BibTeX][PDF]
    2008 IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 406-412 
    Welke, K., Asfour, T. & Dillmann, R. Inhibition of return in the Bayesian strategy to active visual search
    [BibTeX]
    2011 IAPR Conference on Machine Vision Applications 
    Welke, K., Asfour, T. & Dillmann, R. Active Multi-View Object Search on a Humanoid Head
    [BibTeX][PDF]
    2009 Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2009), pp. 417-423 
    Welke, K., Asfour, T. & Dillmann, R. Object Separation using Active Methods and Multi-View Representations
    [BibTeX][PDF]
    2008 IEEE International Conference on Robotics and Automation (ICRA), pp. 949-955 
    Welke, K., Asfour, T. & Dillmann, R. Bayesian Visual Feature Integration with Saccadic Eye Movements
    [BibTeX][PDF]
    2009 IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 256-262 
    Welke, K., Azad, P. & Dillmann, R. Fast and Robust Feature-based Recognition of Multiple Objects
    [BibTeX][PDF]
    2006 IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 264-269 
    Welke, K., Issac, J., Schiebener, D., Asfour, T. & Dillmann, R. Autonomous Acquisition of Visual Multi-View Object Representations for Object Recognition on a Humanoid Robot
    [BibTeX][PDF]
    2010 IEEE International Conference on Robotics and Automation (ICRA) 
    Welke, K., Oztop, E., Cheng, G. & Dillmann, R. Exploiting Similarities for robot perception
    [BibTeX][PDF]
    2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 3237-3242 
    Welke, K., Oztop, E., Ude, A., Dillmann, R. & Cheng, G. Learning feature representations for an object recognition system
    [BibTeX][PDF]
    2006 IEEE/RAS International Conference on Humanoid Robots (Humanoids), pp. 290-295 
    Werner, T., Kargov, A., Gaiser, I., Bierbaum, A., Schill, J., Schulz, S. & Bretthauer, G. A Fluidic Driven Anthropomorphic Robotic Hand
    [BibTeX][PDF]
    2010 at - Automatisierungstechnik
    Vol. 58(12), pp. 681 - 687 
    Wieland, S., Gonzalez-Aguirre, D., Vahrenkamp, N., Asfour, T. & Dillmann, R. Combining force and visual feedback for physical interaction tasks in humanoid robots
    [BibTeX][PDF]
    2009 Humanoid Robots, 2009. Humanoids 2009. 9th IEEE-RAS International Conference on, pp. 439 - 446 
    Zöllner, R., Asfour, T. & Dillmann, R. Programming by Demonstration: Dual-Arm Manipulation Tasks for Humanoid Robots
    [BibTeX][PDF]
    2004 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)