Tilman Daab

@ARTICLE {Dezman2024b,
author = {Miha Dežman and Charlotte Marquardt and Adnan \"U\vg\"ur and Tobias M\"oller and Tamim Asfour},
title = {Influence of Motion Restrictions in an Ankle Exoskeleton on Gait Kinematics and Stability in Straight Walking},
pages = {114--122},
volume ={7},
number ={1},
journal ={IEEE Transactions on Medical Robotics and Bionics},
year = {2025}
}
                

@ARTICLE {Lee2025,
author = {Jongseok Lee and Timo Birr and Rudolph Triebel and Tamim Asfour},
title = {CLEVER: Stream-based Active Learning for Robust Semantic Perception from Human Instructions},
pages = {1--8},
volume ={},
number ={},
journal ={IEEE Robotics and Automation Letters},
year = {2025}
}
                

@ARTICLE {Moeller2025a,
author = {Tobias M\"oller and Melina Beyerlein and Michael Herzog and Bettina Barisch-Fritz and Charlotte Marquardt and Miha Dežman and Katja Mombaur and Tamim Asfour and Alexander Woll and Thorsten Stein and Janina Krell-R\"osch},
title = {Human Motor Performance Assessment with Lower Limb Exoskeletons as a Potential Strategy to Support Healthy Aging – a Perspective Article},
pages = {0--0},
volume ={7},
number ={1},
journal ={Progress in Biomedical Engineering},
year = {2025}
}
                

@INPROCEEDINGS {Dezman2025a,
author = {Miha Dežman and Charlotte Marquardt and Tamim Asfour},
title = {Mapping Encoder Values to Ankle Angles in a 3 DoF Parallel Ankle Exoskeleton},
booktitle = {IEEE/RAS/EMBS International Conference on Rehabilitation Robotics (ICORR)},
pages = {326--332},
year = {2025}
}
                

@INPROCEEDINGS {Friedl2025,
author = {Katharina Friedl and Noémie Jaquier and Jens Lundell and Tamim Asfour and Danica Kragic},
title = {A Riemannian Framework for Learning Reduced-order Lagrangian Dynamics},
booktitle = {International Conference on Learning Representations (ICLR)},
pages = {0--0},
year = {2025}
}
                

@INPROCEEDINGS {Marquardt2025b,
author = {Charlotte Marquardt and Arne Schulz and Miha Dežman and Gunther Kurz and Thorsten Stein and Tamim Asfour},
title = {Force Myography Based Torque Estimation in Human Knee and Ankle Joints},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {0--0},
year = {2025}
}
                

@INPROCEEDINGS {Marquardt2025a,
author = {Charlotte Marquardt and Gunther Kurz and Miha Dežman and Thorsten Stein and Tamim Asfour},
title = {Comparative Analysis of Force Myography and Electromyography Signals in Isokinetic Ankle and Knee Joint Motion},
booktitle = {IEEE/RAS/EMBS International Conference on Rehabilitation Robotics (ICORR)},
pages = {338--345},
year = {2025}
}
                

@INPROCEEDINGS {Testa2025,
author = {Andrea Testa and SÞren Hauberg and Tamim Asfour and Leonel Rozo},
title = {Geometric Contact Flows: Contactomorphisms for Dynamics and Control},
booktitle = {International Conference on Machine Learning (ICML)},
pages = {0--0},
year = {2025}
}
                

@INPROCEEDINGS {Wolk2025,
author = {Tim Wolk and Charlotte Marquardt and Miha Dežman and Tamim Asfour},
title = {Comparing Machine Learning Methods for Force Myography based Estimation of Isokinetic Knee and Ankle Torques},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {0--0},
year = {2025}
}
                

@INCOLLECTION {Asfour2025,
author = {Tamim Asfour and Samuel Rader and Pascal Weiner and Felix Hundhausen and Julia Starke and Cornelius Klas and Stefan Reither and Christian R. G. Dreher and Fabian Reister and Miha Dežman and Charlotte Marquardt},
publisher = {Springer, Cham},
booktitle = {Robotics Goes MOOC},
title = {Robotronics: Robot Mechatronics},
pages = {1--37},
year = {2025}
}
                

@MISC {Augenstein2025,
title = {On Probabilistic Pullback Metrics on Latent Hyperbolic Manifolds},
author = {Luis Augenstein and Noémie Jaquier and Tamim Asfour and Leonel Rozo},
publisher = {Preprint on arXiv},
year = {2025}
}
                

@MISC {Birr2025,
title = {AutoGPT+P: Affordance-based Task Planning with Large Language Models},
author = {Timo Birr and Christoph Pohl and Abdelrahman Younes and Tamim Asfour},
publisher = {German Robotics Conference (GRC)},
year = {2025}
}
                

@MISC {Daab2025,
title = {Incrementally Learning a Library of Full-Pose Via-Point Movement Primitives for a Humanoid Robot},
author = {Tilman Daab and Noémie Jaquier and Christian Dreher and Andre Meixner and Franziska Krebs and Annemarie Schaub and David Vigneron and Tamim Asfour},
publisher = {German Robotics Conference (GRC)},
year = {2025}
}
                

@MISC {Gao2025,
title = {Visual Imitation Learning of Manipulation Tasks for Humanoid Robots},
author = {Jianfeng Gao and Sebastian Rietsch and Tamim Asfour},
publisher = {German Robotics Conference (GRC)},
year = {2025}
}
                

@MISC {Plewnia2025,
title = {Beyond Recall: Evaluating Forgetting Mechanisms for Multi-Modal Episodic Robotic Memory},
author = {Joana Plewnia and Fabian Peller-Konrad and Tamim Asfour},
publisher = {German Robotics Conference (GRC)},
year = {2025}
}
                

@MISC {Weberruss2025,
title = {Personalizing Humanoid Robot Behavior through Incremental Learning from Natural Interactions},
author = {Timo Weberruß and Leonard B\"armann and Fabian Peller-Konrad and Alex Waibel and Tamim Asfour},
publisher = {German Robotics Conference (GRC)},
year = {2025}
}
                

@ARTICLE {Baermann2024,
author = {Leonard B\"armann and Rainer Kartmann and Fabian Peller-Konrad and Jan Niehues and Alex Waibel and Tamim Asfour},
title = {Incremental learning of humanoid robot behavior from natural interaction and large language models},
pages = {1--14},
volume ={11},
number ={},
journal ={Frontiers in Robotics and AI},
year = {2024}
}
                

@ARTICLE {JaquierWelle2024,
author = {Noémie Jaquier and Michael C. Welle and Andrej Gams and Kunpeng Yao and Bernardo Fichera and Aude Billard and Aleš Ude and Asfour Tamim and Danica Kragic},
title = {Transfer Learning in Robotics: An Upcoming Breakthrough? A Review of Promises and Challenges},
pages = {0--0},
volume ={},
number ={},
journal ={International Journal of Robotics Research (IJRR)},
year = {2024}
}
                

@ARTICLE {Kiemel2024,
author = {Jonas Kiemel and Ludovic Righetti and Torsten Kr\"oger and Tamim Asfour},
title = {Safe Reinforcement Learning of Robot Trajectories in the Presence of Moving Obstacles},
pages = {11353--11360},
volume ={9},
number ={12},
journal ={IEEE Robotics and Automation Letters (RA-L)},
year = {2024}
}
                

@ARTICLE {Lee2024,
author = {Jongseok Lee and Ribin Balachandran and Konstantin Kondak and Andre Coelho and Marco De Stefano and Matthias Humt and Jianxiang Feng and Tamim Asfour and Rudolph Triebel},
title = {Introspective Perception for Long-term Aerial Telemanipulation with Virtual Reality},
pages = {360--393},
volume ={1},
number ={},
journal ={IEEE IEEE Transactions on Field Robotics},
year = {2024}
}
                

@ARTICLE {Suarez2024,
author = {Alejandro Suarez and Rainer Kartmann and Daniel Leidner and Luca Rossini and Johann Huber and Carlos Azevedo and Quentin Rouxel and Marko Bjelonic and Antonio Gonzalez-Morgado and Christian Dreher and Peter Schmaus and Arturo Laurenzi and Fran\c cois Hélénon and Rodrigo Serra and Jean-Baptiste Mouret and Lorenz Wellhausen and Vicente Perez-Sanchez and Jianfeng Gao and Adrian Simon Bauer and Alessio De Luca and Mouad Abrini and Rui Bettencourt and Olivier Rochel and Joonho Lee and Pablo Viana and Christoph Pohl and Nesrine Batti and Diego Vedelago and Vamsi Krishna Guda and Alexander Reske and Carlos Alvarez and Fabian Reister and Werner Friedl and Corrado Burchielli and Aline Baudry and Fabian Peller-Konrad and Thomas Gumpert and Luca Muratore and Philippe Gauthier and Franziska Krebs and Sebastian Jung and Lorenzo Baccelliere and Hippolyte Watrelot and Andre Meixner and Anne K\"opken and Mohamed Chetouani and Pascal Weiner and Florian Lay and Felix Hundhausen and Anne Reichert and Noémie Jaquier and Florian Schmidt and Marco Sewtz and Freek Stulp and Lioba Suchenwirth and Rudolph Triebel and Xuwei Wu and Begoña Arrue and Rebecca Schedl-Warpup and Marco Hutter and Serena Ivaldi and Pedro U. Lima and Stéphane Doncieux and Nikos Tsagarakis and Tamim Asfour and Anibal Ollero and Alin Albu-Sch\"affer},
title = {Door-to-Door Parcel Delivery From Supply Point to User’s Home With Heterogeneous Robot Team: The euROBIN First-Year Robotics Hackathon},
pages = {2--18},
volume ={},
number ={},
journal ={IEEE Robotics & Automation Magazine},
year = {2024}
}
                

@ARTICLE {Tekden2024,
author = {Ahmet E. Tekden and Aykut Erdem and Erkut Erdem and Tamim Asfour and Emre Ugur},
title = {Object and relation centric representations for push effect prediction},
pages = {0--0},
volume ={174},
number ={},
journal ={Robotics and Autonomous Systems},
year = {2024}
}
                

@INPROCEEDINGS {Birr2024,
author = {Timo Birr and Christoph Pohl and Abdelrahman Younes and Tamim Asfour},
title = {AutoGPT+P: Affordance-based Task Planning with Large Language Models},
booktitle = {Robotics Science and Systems (RSS)},
pages = {0--0},
year = {2024}
}
                

@INPROCEEDINGS {Braun2024,
author = {Max Braun and Noémie Jaquier and Leonel Rozo and Tamim Asfour},
title = {Riemannian Flow Matching Policy for Robot Motion Learning},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {0--0},
year = {2024}
}
                

@INPROCEEDINGS {Gao2024a,
author = {Yichen Cai and Jianfeng Gao and Christoph Pohl and Tamim Asfour},
title = {Visual Imitation Learning of Task-Oriented Object Grasping and Rearrangement},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {364--371},
year = {2024}
}
                

@INPROCEEDINGS {Daab2024,
author = {Tilman Daab and Noémie Jaquier and Christian Dreher and Andre Meixner and Franziska Krebs and Tamim Asfour},
title = {Incremental Learning of Full-Pose Via-Point Movement Primitives on Riemannian Manifolds},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {2317--2323},
year = {2024}
}
                

@INPROCEEDINGS {Dezman2024a,
author = {Miha Dežman and Charlotte Marquardt and Tamim Asfour},
title = {Ankle Exoskeleton with a Symmetric 3 DoF Structure for Plantarflexion Assistance},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {3227--3233},
year = {2024}
}
                

@INPROCEEDINGS {Dreher2024,
author = {Christian R. G. Dreher and Tamim Asfour},
title = {Learning Symbolic and Subsymbolic Temporal Task Constraints from Bimanual Human Demonstrations},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {5160--5167},
year = {2024}
}
                

@INPROCEEDINGS {Gao2024,
author = {Jianfeng Gao and Xiaoshu Jin and Franziska Krebs and Noémie Jaquier and Tamim Asfour},
title = {Bi-KVIL: Keypoints-based Visual Imitation Learning of Bimanual Manipulation Tasks},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {16850--16857},
year = {2024}
}
                

@INPROCEEDINGS {HaasEndrikat2024,
author = {Joschka Haas and Mattis Endrikat and Franziska Krebs and Tamim Asfour},
title = {An Exploratory Study on the Relation between Grasp Types and Bimanual Categories in Manipulation Activities},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {0--0},
year = {2024}
}
                

@INPROCEEDINGS {Jaquier2024b,
author = {Noémie Jaquier and Leonel Rozo and Miguel González-Duque and Viacheslav Borovitskiy and Tamim Asfour},
title = {Bringing motion taxonomies to continuous domains via GPLVM on hyperbolic manifolds},
booktitle = {International Conference on Machine Learning (ICML)},
pages = {0--0},
year = {2024}
}
                

@INPROCEEDINGS {Jaquier2024,
author = {Noémie Jaquier and Leonel Rozo and Tamim Asfour},
title = {Unraveling the Single Tangent Space Fallacy: An Analysis and Clarification for Applying Riemannian Geometry in Robot Learning},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {0--0},
year = {2024}
}
                

@INPROCEEDINGS {KossevKlas2024,
author = {Velin Kossev and Cornelius Klas and Tamim Asfour},
title = {Humanoid Robot Design Assistant – Requirements from Human Motion},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {425--432},
year = {2024}
}
                

@INPROCEEDINGS {Krebs2024,
author = {Franziska Krebs and Tamim Asfour},
title = {Formalization of Temporal and Spatial Constraints of Bimanual Manipulation Categories},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {1302--1309},
year = {2024}
}
                

@INPROCEEDINGS {Marquardt2024,
author = {Charlotte Marquardt and Miha Dežman and Tamim Asfour},
title = {Influence of Motion Restrictions in an Ankle Exoskeleton on Force Myography in Straight and Curve Walking},
booktitle = {IEEE/RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)},
pages = {250--257},
year = {2024}
}
                

@INPROCEEDINGS {Meixner2024,
author = {Andre Meixner and Mischa Carl and Franziska Krebs and Noémie Jaquier and Tamim Asfour},
title = {Towards Unifying Human Likeness: Evaluating Metrics for Human-Like Motion Retargeting on Bimanual Manipulation Tasks},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {13015--13022},
year = {2024}
}
                

@INPROCEEDINGS {Plewnia2024,
author = {Joana Plewnia and Fabian Peller-Konrad and Tamim Asfour},
title = {Forgetting in Episodic Long-Term Memory of Humanoid Robots},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {6711--6717},
year = {2024}
}
                

@INPROCEEDINGS {Plonka2024,
author = {Bj\"orn Plonka and Christian R. G. Dreher and Andre Meixner and Rainer Kartmann and Tamim Asfour},
title = {Learning Spatial Bimanual Action Models Based on Affordance Regions and Human Demonstrations},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {234--241},
year = {2024}
}
                

@INPROCEEDINGS {PohlReister2024,
author = {Christoph Pohl and Fabian Reister and Fabian Peller-Konrad and Tamim Asfour},
title = {MAkEable: Memory-centered and Affordance-based Task Execution Framework for Transferable Mobile Manipulation Skills},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {3674--3681},
year = {2024}
}
                

@INPROCEEDINGS {Rudenko2024,
author = {Irina Rudenko and Utku Norman and Romain Maure and Andrey Rudenko and Nora Weinberger and Franziska Krebs and Fabian Peller-Konrad and Tamim Asfour and Barbara Bruno},
title = {Drawings for Insight on Preschoolers’ Perception of Robots},
booktitle = {ACM/IEEE International Conference on Human Robot Interaction (HRI)},
pages = {0--0},
year = {2024}
}
                

@INPROCEEDINGS {Starke2024,
author = {Julia Starke and Tamim Asfour},
title = {Kinematic Synergy Primitives for Human-Like Grasp Motion Generation},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {4119--4125},
year = {2024}
}
                

@INPROCEEDINGS {Younes2024,
author = {Abdelrahman Younes and Tamim Asfour},
title = {KITchen: A Real-World Benchmark and Dataset for 6D Object Pose Estimation in Kitchen Environments},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {0--0},
year = {2024}
}
                

@MISC {Augenstein2024,
title = {On Probabilistic Pullback Metrics on Latent Hyperbolic Manifolds},
author = {Luis Augenstein and Noémie Jaquier and Tamim Asfour and Leonel Rozo},
publisher = {Preprint on arXiv},
year = {2024}
}
                

@MISC {Baermann2025a,
title = {Episodic Memory Verbalization using Hierarchical Representations of Life-Long Robot Experience},
author = {Leonard B\"armann and Chad DeChant and Joana Plewnia and Fabian Peller-Konrad and Daniel Bauer and Tamim Asfour and Alex Waibel},
publisher = {Preprint on arXiv},
year = {2024}
}
                

@MISC {Baermann2025b,
title = {Episodic Memory Verbalization using Hierarchical Representations of Life-Long Robot Experience},
author = {Leonard B\"armann and Chad DeChant and Joana Plewnia and Fabian Peller-Konrad and Daniel Bauer and Tamim Asfour and Alex Waibel},
publisher = {Preprint on arXiv},
year = {2024}
}
                

@ARTICLE {Gao2023,
author = {Jianfeng Gao and Zhi Tao and Noémie Jaquier and Tamim Asfour},
title = {K-VIL: Keypoints-based Visual Imitation Learning},
pages = {3888--3908},
volume ={39},
number ={5},
journal ={IEEE Transactions on Robotics},
year = {2023}
}
                

@ARTICLE {Kartmann2023,
author = {Rainer Kartmann and Tamim Asfour},
title = {Interactive and Incremental Learning of Spatial Object Relations from Human Demonstrations},
pages = {1--14},
volume ={10},
number ={},
journal ={Frontiers in Robotics and AI},
year = {2023}
}
                

@ARTICLE {Klas2023,
author = {Cornelius Klas and Tamim Asfour},
title = {Reaching Torque-Velocity Profiles of Human Muscles: The Adaptive Cycloidal Linear Drive},
pages = {1--10},
volume ={},
number ={},
journal ={IEEE/ASME Transactions on Mechatronics},
year = {2023}
}
                

@ARTICLE {Lee2023,
author = {Jongseok Lee and Ribin Balachandran and Konstantin Kondak and Andre Coelho and Marco De Stefano and Matthias Humt and Jianxiang Feng and Tamim Asfour and Rudolph Triebel},
title = {Virtual Reality via Object Poses and Active Learning: Realizing Telepresence Robots with Aerial Manipulation Capabilities},
pages = {0--0},
volume ={},
number ={},
journal ={International Journal on Field Robotics (accepted)},
year = {2023}
}
                

@ARTICLE {Moeller2023,
author = {Tobias M\"oller and Felix Moehler and Janina Krell-R\"osch and Miha Dežman and Charlotte Marquardt and Tamim Asfour and Thorsten Stein and Alexander Woll},
title = {Use of Lower Limb Exoskeletons as an Assessment Tool for Human Motor Performance: A Systematic Review},
pages = {0--0},
volume ={23},
number ={6},
journal ={Sensors},
year = {2023}
}
                

@ARTICLE {Newbury2023,
author = {Rhys Newbury and Morris Gu and Lachlan Chumbley and Arsalan Mousavian and Clemens Eppner and JÃŒrgen Leitner and Jeannette Bohg and Antonio Morales and Tamim Asfour and Danica Kragic and Dieter Fox and Akansel Cosgun},
title = {Deep Learning Approaches to Grasp Synthesis: A Review},
pages = {3994--4015},
volume ={39},
number ={5},
journal ={IEEE Transactions on Robotics},
year = {2023}
}
                

@ARTICLE {Peller2023,
author = {Fabian Peller-Konrad and Rainer Kartmann and Christian R. G. Dreher and Andre Meixner and Fabian Reister and Markus Grotz and Tamim Asfour},
title = {A memory system of a robot cognitive architecture and its implementation in ArmarX},
pages = {1--20},
volume ={164},
number ={},
journal ={Robotics and Autonomous Systems},
year = {2023}
}
                

@INPROCEEDINGS {Baek2023,
author = {Woo-Jeong Baek and Christoph Ledermann and Tamim Asfour and Torsten Kroeger},
title = {Combining Measurement Uncertainties with the Probabilistic Robustness for Safety Evaluation of Robot Systems},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {0--0},
year = {2023}
}
                

@INPROCEEDINGS {Cebulla2023,
author = {Alexander Cebulla and Tamim Asfour and Torsten Kroeger},
title = {Speeding Up Assembly Sequence Planning Through Learning Removability Probabilities},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {12388--12394},
year = {2023}
}
                

@INPROCEEDINGS {Cebulla2023b,
author = {Alexander Cebulla and Tamim Asfour and Torsten Kroeger},
title = {Efficient Multi-Objective Assembly Sequence Planning via Knowledge Transfer between Similar Assemblies},
booktitle = {IEEE International Conference on Automation Science and Engineering (CASE)},
pages = {1--7},
year = {2023}
}
                

@INPROCEEDINGS {Gerling2023,
author = {Kathrin Gerling and Alexey Vinel and Karin M\"uller and Linda Nierling and Rainer Stiefelhagen and Caroline Karmann and Daniel Lang and Tamim Asfour},
title = {Technology-Centric Real-World Labs: Challenges and Opportunities for a New Mode of Participatory Research From the Perspective of Computer Science},
booktitle = {Mensch und Computer 2023 - Workshopband},
pages = {0--0},
year = {2023}
}
                

@INPROCEEDINGS {Hundhausen2023,
author = {Felix Hundhausen and Simon Hubschneider and Tamim Asfour},
title = {Grasping with Humanoid Hands based on In-Hand Vision and Hardware-accelerated CNNs},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {0--0},
year = {2023}
}
                

@INPROCEEDINGS {Klas2023b,
author = {Cornelius Klas and Andre Meixner and Daniel Ruffler and Tamim Asfour},
title = {On the Actuator Requirements for Human-Like Execution of Retargeted Human Motion on Humanoid Robots},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {0--0},
year = {2023}
}
                

@INPROCEEDINGS {Klein2023,
author = {Holger Klein and Noémie Jaquier and Andre Meixner and Tamim Asfour},
title = {On the Design of Region-Avoiding Metrics for Collision-Safe Motion Generation on Riemannian Manifolds},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {2346--2353},
year = {2023}
}
                

@INPROCEEDINGS {KrebsLeven2023,
author = {Franziska Krebs and Leonie Leven and Tamim Asfour},
title = {Recognition of Bimanual Manipulation Categories in RGB-D Human Demonstration},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {0--0},
year = {2023}
}
                

@INPROCEEDINGS {Meixner2023,
author = {Andre Meixner and Franziska Krebs and Noémie Jaquier and Tamim Asfour},
title = {An Evaluation of Action Segmentation Algorithms on Bimanual Manipulation Datasets},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {4912--4919},
year = {2023}
}
                

@INPROCEEDINGS {Schlosser2023,
author = {Patrick Schlosser and Christoph Ledermann and Tamim Asfour},
title = {Upper Bounds for Localization Errors in 2D Human Pose Estimation},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {0--0},
year = {2023}
}
                

@ARTICLE {Dezman2022,
author = {Miha Dežman and Tamim Asfour and Aleš Ude and Andrej Gams},
title = {Mechanical design and friction modelling of a cable-driven upper-limb exoskeleton},
pages = {0--0},
volume ={171},
number ={},
journal ={Mechanism and Machine Theory},
year = {2022}
}
                

@ARTICLE {Dreher2022a,
author = {Christian R. G. Dreher and Manuel Zaremski and Fabian Leven and David Schneider and Alina Roitberg and Rainer Stiefelhagen and Michael Heizmann and Barbara Deml and Tamim Asfour},
title = {Capturing and Interpreting Human Actions for Programming Robots in the Production},
pages = {517--533},
volume ={70},
number ={6},
journal ={at – Automatisierungstechnik},
year = {2022}
}
                

@ARTICLE {Jaquier2022a,
author = {Noémie Jaquier and You Zhou and Julia Starke and Tamim Asfour},
title = {Learning to Sequence and Blend Robot Skills via Differentiable Optimization},
pages = {8431--8438},
volume ={7},
number ={3},
journal ={IEEE Robotics and Automation Letters (RA-L)},
year = {2022}
}
                

@ARTICLE {Krebs2022,
author = {Franziska Krebs and Tamim Asfour},
title = {A Bimanual Manipulation Taxonomy},
pages = {11031--11038},
volume ={7},
number ={4},
journal ={IEEE Robotics and Automation Letters (RA-L)},
year = {2022}
}
                

@ARTICLE {Lanza2022,
author = {Gisela Lanza and Tamim Asfour and JÃŒrgen Beyerer and Barbara Deml and JÃŒrgen Fleischer and Michael Heizmann and Kai Furmans and Constantin Hofmann and Alexander Cebulla and Christian R. G. Dreher and Jan-Philipp Kaiser and Jan-Felix Klein and Fabian Leven and Simon Mangold and Norbert Mitschke and Nicole Stricker and Julius Pfrommer and Chengzhi Wu and Marco Wurster and Manuel Zaremski},
title = {Concept of an Agile Production System Based on Learning Robots Applied to Disassembly},
pages = {504--516},
volume ={70},
number ={6},
journal ={at - Automatisierungstechnik},
year = {2022}
}
                

@ARTICLE {Pohl2022b,
author = {Christoph Pohl and Patrick Hegemann and Byungchul An and Markus Grotz and Tamim Asfour},
title = {Humanoid Robotic System for Grasping and Manipulation in Decontamination Tasks},
pages = {0--0},
volume ={},
number ={},
journal ={at – Automatisierungstechnik},
year = {2022}
}
                

@ARTICLE {Pohl2022a,
author = {Christoph Pohl and Tamim Asfour},
title = {Probabilistic Spatio-Temporal Fusion of Affordances for Grasping and Manipulation},
pages = {3226--3233},
volume ={7},
number ={2},
journal ={IEEE Robotics and Automation Letters (RA-L)},
year = {2022}
}
                

@ARTICLE {Reister2022,
author = {Fabian Reister and Markus Grotz and Tamim Asfour},
title = {Combining Navigation and Manipulation Costs for Time-Efficient Robot Placement in Mobile Manipulation Tasks},
pages = {9913--9920},
volume ={7},
number ={4},
journal ={IEEE Robotics and Automation Letters (RA-L)},
year = {2022}
}
                

@ARTICLE {Starke2022,
author = {Julia Starke and Pascal Weiner and Markus Crell and Tamim Asfour},
title = {Semi-autonomous control of prosthetic hands based on multimodal sensing, human grasp demonstration and user intention},
pages = {0--0},
volume ={154},
number ={},
journal ={Robotics and Autonomous Systems},
year = {2022}
}
                

@ARTICLE {Weiner2022,
author = {Pascal Weiner and Julia Starke and Samuel Rader and Felix Hundhausen and Tamim Asfour},
title = {Designing Prosthetic Hands with Embodied Intelligence: The KIT Prosthetic Hands},
pages = {1--14},
volume ={16},
number ={},
journal ={Frontiers in Neurorobotics},
year = {2022}
}
                

@INPROCEEDINGS {Agival2022,
author = {Yahav Avigal and Lars Berscheid and Tamim Asfour and Torsten Kroeger and Ken Goldberg},
title = {SpeedFolding: Learning Efficient Bimanual Folding of Garments},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {1--8},
year = {2022}
}
                

@INPROCEEDINGS {BaekPohl2022,
author = {Woo-Jeong Baek and Christoph Pohl and Philipp Pelcz and Torsten Kr\"oger and Tamim Asfour},
title = {Improving Humanoid Grasp Success Rate based on Uncertainty-aware Metrics and Sensitivity Optimization},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {0--0},
year = {2022}
}
                

@INPROCEEDINGS {Bayreuther2022,
author = {Saskia Bayreuther and Florian Jacob and Markus Grotz and Rainer Kartmann and Fabian Peller-Konrad and Fabian Paus and Hannes Hartenstein and Tamim Asfour},
title = {BlueSky: Combining Task Planning and Activity-Centric Access Control for Assistive Humanoid Robots},
booktitle = {Symposium on Access Control Models and Technologies (SACMAT)},
pages = {185--194},
year = {2022}
}
                

@INPROCEEDINGS {Birr2022,
author = {Timo Birr and Christoph Pohl and Tamim Asfour},
title = {Oriented Surface Reachability Maps for Robot Placement},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {0--0},
year = {2022}
}
                

@INPROCEEDINGS {Dreher2022,
author = {Christian R. G. Dreher and Tamim Asfour},
title = {Learning Temporal Task Models from Human Bimanual Demonstrations},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {0--0},
year = {2022}
}
                

@INPROCEEDINGS {Hegemann2022,
author = {Patrick Hegemann and Tim Zechmeister and Markus Grotz and Kevin Hitzler and Tamim Asfour},
title = {Learning Symbolic Failure Detection for Grasping and Mobile Manipulation Tasks},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {0--0},
year = {2022}
}
                

@INPROCEEDINGS {Jaquier2022b,
author = {Noémie Jaquier and Tamim Asfour},
title = {Riemannian geometry as a unifying theory for robot motion learning and control},
booktitle = {International Symposium on Robotics Research (ISRR)},
pages = {0--0},
year = {2022}
}
                

@INPROCEEDINGS {Klas2022,
author = {Cornelius Klas and Tamim Asfour},
title = {A Compact, Lightweight and Singularity-Free Wrist Joint Mechanism for Humanoid Robots},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {0--0},
year = {2022}
}
                

@INPROCEEDINGS {Klein2022,
author = {Holger Klein and Noémie Jaquier and Andre Meixner and Tamim Asfour},
title = {A Riemannian Take on Human Motion Analysis and Retargeting},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {5210--5217},
year = {2022}
}
                

@INPROCEEDINGS {Marquardt2022,
author = {Charlotte Marquardt and Pascal Weiner and Miha Dežman and Tamim Asfour},
title = {Embedded Barometric Pressure Sensor Unit for Force Myography in Exoskeletons},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {67--73},
year = {2022}
}
                

@INCOLLECTION {Asfour2022,
author = {Tamim Asfour and Eiichi Yoshida and Jaeheung Park and Henrik Christensen and Oussama Khatib},
publisher = {},
booktitle = {Springer Proceedings in Advanced Robotics book series (SPAR)},
title = {Robotics Research, The 19th International Symposium on Robotics Research ISRR},
pages = {0--0},
year = {2022}
}
                

@ARTICLE {Baermann2021,
author = {Leonard B\"armann and Fabian Peller-Konrad and Stefan Constantin and Tamim Asfour and Alex Waibel},
title = {Deep Episodic Memory for Verbalization of Robot Experience},
pages = {5808--5815},
volume ={6},
number ={3},
journal ={IEEE Robotics and Automation Letters (RA-L)},
year = {2021}
}
                

@ARTICLE {Kuo2021,
author = {C.-Y. Kuo and A. Schaarschmidt and Y. Cui and T. Asfour and T. Matsubara},
title = {Uncertainty-aware Contact-safe Model-based Reinforcement Learning},
pages = {3918--3925},
volume ={6},
number ={2},
journal ={IEEE Robotics and Automation Letters},
year = {2021}
}
                

@INPROCEEDINGS {Fasfous2021,
author = {Nael Fasfous and Manoj-Rohit Vemparala and Alexander Frickenstein and Mohamed Badawy and Felix Hundhausen and Julian H\"ofer and Naveen-Shankar Nagaraja and Christian Unger and Hans-Jörg V\"ogel and JÌrgen Becker and Tamim Asfour and Walter Stechele},
title = {Binary-LoRAX: Low-power and Runtime Adaptable XNOR Classifier for Semi-Autonomous Grasping with Prosthetic Hands},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {0--0},
year = {2021}
}
                

@INPROCEEDINGS {Grimm2021,
author = {Raphael Grimm and Markus Grotz and Simon Ottenhaus and Tamim Asfour},
title = {Vision-Based Robotic Pushing and Grasping for Stone Sample Collection under Computing Resource Constraints},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {0--0},
year = {2021}
}
                

@INPROCEEDINGS {Hundhausen2021,
author = {Felix Hundhausen and Raphael Grimm and Leon Stieber and Tamim Asfour},
title = {Fast Reactive Grasping with In-Finger Vision and In-Hand FPGA-accelerated CNNs},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {0--0},
year = {2021}
}
                

@INPROCEEDINGS {Jaquier2021,
author = {Noémie Jaquier and Viacheslav Borovitskiy and Andrei Smolensky and Alexander Terenin and Tamim Asfour and Leonel Rozo},
title = {Geometry-aware Bayesian Optimization in Robotics using Riemannian Matérn Kernels},
booktitle = {Conference on Robot Learning (CoRL)},
pages = {0--0},
year = {2021}
}
                

@INPROCEEDINGS {Kartmann2021,
author = {Rainer Kartmann and Danqing Liu and Tamim Asfour},
title = {Semantic Scene Manipulation Based on 3D Spatial Object Relations and Language Instructions},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {306--313},
year = {2021}
}
                

@INPROCEEDINGS {Klas2021,
author = {Cornelius Klas and Felix Hundhausen and Jianfeng Gao and Christian R. G. Dreher and Stefan Reither and You Zhou and Tamim Asfour},
title = {The KIT Gripper: A Multi-Functional Gripper for Disassembly Tasks},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {0--0},
year = {2021}
}
                

@INPROCEEDINGS {KrebsMeixner2021,
author = {Franziska Krebs and Andre Meixner and Isabel Patzer and Tamim Asfour},
title = {The KIT Bimanual Manipulation Dataset},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {499--506},
year = {2021}
}
                

@INPROCEEDINGS {Marquardt2021,
author = {Charlotte Marquardt and Daniel Lemus and Cory Meijneke and Heike Vallery},
title = {Design and Evaluation of a Series-Elastic Gyroscopic Actuator for Balance Assistance},
booktitle = {IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM)},
pages = {781--786},
year = {2021}
}
                

@INPROCEEDINGS {Starke2021,
author = {Julia Starke and Marco Keller and Tamim Asfour},
title = {Temporal Force Synergies in Human Grasping},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {3940--3947},
year = {2021}
}
                

@INPROCEEDINGS {Weiner2021,
author = {Pascal Weiner and Felix Hundhausen and Raphael Grimm and Tamim Asfour},
title = {Detecting Grasp Phases and Adaption of Object-Hand Interaction Forces of a Soft Humanoid Hand Based on Tactile Feedback},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {3956--3963},
year = {2021}
}
                

@INPROCEEDINGS {ZehangPaus2021,
author = {Zehang Weng and Fabian Paus and Anastasiia Varava and Hang Yin and Tamim Asfour and Danica Kragic},
title = {Graph-based Task-specific Prediction Models for Interactions between Deformable and Rigid Objects},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {5453--5460},
year = {2021}
}
                

@MISC {Zhou2021a,
title = {Learning to Shift Attention for Motion Generation},
author = {You Zhou and Jianfeng Gao and Tamim Asfour},
publisher = {Preprint on arXiv},
year = {2021}
}
                

@ARTICLE {Dreher2020,
author = {Christian R. G. Dreher and Mirko W\"achter and Tamim Asfour},
title = {Learning Object-Action Relations from Bimanual Human Demonstration Using Graph Networks},
pages = {187--194},
volume ={5},
number ={1},
journal ={IEEE Robotics and Automation Letters (RA-L)},
year = {2020}
}
                

@ARTICLE {Starke2019b,
author = {Julia Starke and Christian Eichmann and Simon Ottenhaus and Tamim Asfour},
title = {Human-Inspired Representation of Object-Specific Grasps for Anthropomorphic Hands},
pages = {0--0},
volume ={17},
number ={2},
journal ={International Journal of Humanoid Robotics (IJHR)},
year = {2020}
}
                

@ARTICLE {Zhou2020,
author = {You Zhou and Jianfeng Gao and Tamim Asfour},
title = {Movement Primitive Learning and Generalization using Mixture Density Networks},
pages = {22--32},
volume ={27},
number ={2},
journal ={IEEE Robotics & Automation Magazine},
year = {2020}
}
                

@ARTICLE {Zlatintsi2020,
author = {Athanasia Zlatintsi and Athanasios Dometios and Nikolaos Kardaris and Petros Koutras Isidoros Rodomagoulakis and Xanthi Papageorgiou and Petros Maragos and Costas Tzafestas and Panagiotis Varholomeos and Klaus Hauer and Christian Werner and Roberta Annicchiarico and Maria Giovanna Lombardi and Fulvia Adriano and Tamim Asfour and Angelo Maria Sabatini and Cecilia Laschi and Matteo Cianchetti and Riza Alp Guler and Iasonas Kokkinos and Barbara Klein and Rafael Lopez},
title = {I-SUPPORT: a Robotic Platform of an Assistive Bathing Robot for the Elderly Population},
pages = {0--0},
volume ={},
number ={},
journal ={Robotics and Autonomous Systems},
year = {2020}
}
                

@INPROCEEDINGS {Hundhausen2020,
author = {Felix Hundhausen and Julia Starke and Tamim Asfour},
title = {A Soft Humanoid Hand with In-Finger Visual Perception},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {8722--8728},
year = {2020}
}
                

@INPROCEEDINGS {Kartmann2020,
author = {Rainer Kartmann and You Zhou and Danqing Liu and Fabian Paus and Tamim Asfour},
title = {Representing Spatial Object Relations as Parametric Polar Distribution for Scene Manipulation Based on Verbal Commands},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {8373--8380},
year = {2020}
}
                

@INPROCEEDINGS {Paus2020a,
author = {Fabian Paus and Teng Huang and Tamim Asfour},
title = {Predicting Pushing Action Effects on Spatial Object Relations by Learning Internal Prediction Models},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {10584--10590},
year = {2020}
}
                

@INPROCEEDINGS {Paus2020b,
author = {Fabian Paus and Tamim Asfour},
title = {Probabilistic Representation of Objects and Their Support Relations},
booktitle = {International Symposium on Experimental Robotics (ISER)},
pages = {510--519},
year = {2020}
}
                

@INPROCEEDINGS {Pohl2020,
author = {Christoph Pohl and Kevin Hitzler and Raphael Grimm and Antonio Zea and Uwe D. Hanebeck and Tamim Asfour},
title = {Affordance-Based Grasping and Manipulation in Real World Applications},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {9569--9576},
year = {2020}
}
                

@MISC {Gao2020,
title = {Learning Compliance Adaptation in Contact-Rich Manipulation},
author = {Jianfeng Gao and You Zhou and Tamim Asfour},
publisher = {Preprint on arXiv},
year = {2020}
}
                

@ARTICLE {Asfour2019,
author = {Tamim Asfour and Mirko W\"achter and Lukas Kaul and Samuel Rader and Pascal Weiner and Simon Ottenhaus and Raphael Grimm and You Zhou and Markus Grotz and Fabian Paus},
title = {ARMAR-6: A High-Performance Humanoid for Human-Robot Collaboration in Real World Scenarios},
pages = {108--121},
volume ={26},
number ={4},
journal ={IEEE Robotics & Automation Magazine},
year = {2019}
}
                

@ARTICLE {Llop2019,
author = {Immaculada Llop-Harillo and Antonio Pérez-González and Julia Starke and Tamim Asfour},
title = {The Anthropomorphic Hand Assessment Protocol (AHAP)},
pages = {0--0},
volume ={121},
number ={},
journal ={Robotics and Autonomous Systems},
year = {2019}
}
                

@ARTICLE {Ringhof2019,
author = {Steffen Ringhof and Isabel Patzer and Jonas Beil and Tamim Asfour and Thorsten Stein},
title = {Does a passive unilateral lower limb exoskeleton affect human static and dynamic balance control?},
pages = {0--0},
volume ={1},
number ={22},
journal ={Journal Frontiers in Sports and Active Living, section Biomechanics and Control of Human Movement},
year = {2019}
}
                

@ARTICLE {Weiner2019,
author = {Pascal Weiner and Caterina Neef and Yoshihisa Shibata and Yoshihiko Nakamura and Tamim Asfour},
title = {An Embedded, Multi-Modal Sensor System for Scalable Robotic and Prosthetic Hand Fingers},
pages = {108--121},
volume ={20},
number ={1},
journal ={Sensors},
year = {2019}
}
                

@INPROCEEDINGS {Boltz2019,
author = {Tobias Boltz and Tamim Asfour and Miriam Brosi and Erik Br\"undermann and Bastian H\"arer and Peter Kaiser and Anke-Susanne M\"uller and Christoph Pohl and Patrick Schreiber and Minjie Yan},
title = {Feedback Design for Control of the Micro-Bunching Instability based on Reinforcement Learning},
booktitle = {Proc. 10th International Particle Accelerator Conference (IPAC)},
pages = {0--0},
year = {2019}
}
                

@INPROCEEDINGS {Busch2019,
author = {Baptiste Busch and Giuseppe Cotugno and Mahdi Khoramshahi and Grigorios Skaltsas and Dario Turchi and Leonardo Urbano and Mirko W\"achter and You Zhou and Tamim Asfour and Graham Deacon and Duncan Russell and Aude Billard},
title = {Evaluation of an Industrial Robotic Assistant in an Ecological Environment},
booktitle = {28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)},
pages = {1--8},
year = {2019}
}
                

@INPROCEEDINGS {Daab2019,
author = {Tilman Daab and Isabel Patzer and Ralf Mikut and Tamim Asfour},
title = {Feature Space Exploration for Motion Classification Based on Multi-Modal Sensor Data for Lower Limb Exoskeletons},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {667--674},
year = {2019}
}
                

@INPROCEEDINGS {Dezman2019,
author = {Miha Dežman and Tamim Asfour and Aleš Ude and Andrej Gams},
title = {Exoskeleton Arm Pronation/Supination Assistance Mechanism With A Guided Double Rod System},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {559--564},
year = {2019}
}
                

@INPROCEEDINGS {Ferreira2019,
author = {Fabio Ferreira and Lin Shao and Tamim Asfour and Jeannette Bohg},
title = {Learning Visual Dynamics Models of Rigid Objects using Relational Inductive Biases},
booktitle = {NeurIPS 2019 Graph Representation Learning Workshop},
pages = {0--0},
year = {2019}
}
                

@INPROCEEDINGS {Grotz2019,
author = {Markus Grotz and David Sippel and Tamim Asfour},
title = {Active Vision for Extraction of Physically Plausible Support Relations},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {463--469},
year = {2019}
}
                

@INPROCEEDINGS {Hitzler2019,
author = {Kevin Hitzler and Franziska Meier and Stefan Schaal and Tamim Asfour},
title = {Learning and Adaptation of Inverse Dynamics Models: A Comparison},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {0--0},
year = {2019}
}
                

@INPROCEEDINGS {Hundhausen2019,
author = {Felix Hundhausen and Denis Megerle and Tamim Asfour},
title = {Resource-Aware Object Classification and Segmentation for Semi-Autonomous Grasping with Prosthetic Hands},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {0--0},
year = {2019}
}
                

@INPROCEEDINGS {Ottenhaus2019,
author = {Simon Ottenhaus and Daniel Renninghoff and Raphael Grimm and Fabio Ferreira and Tamim Asfour},
title = {Visuo-Haptic Grasping of Unknown Objects based on Gaussian Process Implicit Surfaces and Deep Learning},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {426--432},
year = {2019}
}
                

@INPROCEEDINGS {Patzer2019,
author = {Isabel Patzer and Tamim Asfour},
title = {Minimal Sensor Setup in Lower Limb Exoskeletons for Motion Classification based on Multi-Modal Sensor Data},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {8158--8164},
year = {2019}
}
                

@INPROCEEDINGS {Petereit2019,
author = {Janko Petereit and J\"urgen Beyerer and Tamim Asfour and Sascha Gentes and Bj\"orn Hein and Uwe D. Hanebeck and Frank Kirchner and R\"udiger Dillmann and Hans Heinrich G\"otting and Martin Weiser and Michael Gustmann and Thomas Egloffstein},
title = {ROBDEKON: Robotic Systems for Decontamination in Hazardous Environments},
booktitle = {IEEE International Symposium on Safety, Security and Rescue Robotics},
pages = {0--0},
year = {2019}
}
                

@INPROCEEDINGS {Rothfuss2019,
author = {Jonas Rothfuss and Dennis Lee and Ignasi Clavera and Tamim Asfour and Pieter Abbeel},
title = {ProMP: Proximal Meta-Policy Search},
booktitle = {International Conference on Learning Representations (ICLR)},
pages = {0--0},
year = {2019}
}
                

@INPROCEEDINGS {Shingarey2019,
author = {Dmitriy Shingarey and Lukas Kaul and Tamim Asfour},
title = {Torque-Based Velocity Control for Safe Human-Humanoid Interaction},
booktitle = {28th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD)},
pages = {61--68},
year = {2019}
}
                

@INPROCEEDINGS {Starke2019a,
author = {Julia Starke and Konstantinos Chatzilygeroudis and Aude Billard and Tamim Asfour},
title = {On Force Synergies in Human Grasping Behavior},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {72--78},
year = {2019}
}
                

@INPROCEEDINGS {Zhou2019,
author = {You Zhou and Jianfeng Gao and Tamim Asfour},
title = {Learning Via-Point Movement Primitives with Inter- and Extrapolation Capabilities},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {4301--4308},
year = {2019}
}
                

@INPROCEEDINGS {Zimmer2019,
author = {Julian Zimmer and Tess Hellebrekers and Tamim Asfour and Carmel Majidi and Oliver Kroemer},
title = {Predicting Grasp Success with a Soft Sensing Skin and Shape-Memory Actuated Gripper},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {0--0},
year = {2019}
}
                

@ARTICLE {Dometios2018,
author = {Athanasios C. Dometios and You Zhou and Xanthi S. Papageorgiou and Costas S. Tzafestas and Tamim Asfour},
title = {Vision-Based Online Adaptation of Motion Primitives to Dynamic Surfaces: Application to an Interactive Robotic Wiping Task},
pages = {1410--1417},
volume ={3},
number ={3},
journal ={IEEE Robotics and Automation Letters (RA-L)},
year = {2018}
}
                

@ARTICLE {Kaiser2018b,
author = {Peter Kaiser and Tamim Asfour},
title = {Autonomous Detection and Experimental Validation of Affordances},
pages = {1949--1956},
volume ={3},
number ={3},
journal ={IEEE Robotics and Automation Letters (RA-L)},
year = {2018}
}
                

@ARTICLE {KartmannPaus2018,
author = {R. Kartmann and F. Paus and M. Grotz and T. Asfour},
title = {Extraction of Physically Plausible Support Relations to Predict and Validate Manipulation Action Effects},
pages = {3991--3998},
volume ={3},
number ={4},
journal ={IEEE Robotics and Automation Letters (RA-L)},
year = {2018}
}
                

@ARTICLE {Knobloch2018,
author = {Adrian Knobloch and Nikolaus Vahrenkamp and Mirko W\"achter and Tamim Asfour},
title = {Distance-Aware Dynamically Weighted Roadmaps for Motion Planning in Unknown Environments},
pages = {2016--2023},
volume ={3},
number ={3},
journal ={IEEE Robotics and Automation Letters (RA-L)},
year = {2018}
}
                

@ARTICLE {Laschi2018,
author = {C. Laschi and B. Mazzolai and N. Nosengo and V. Delle Cave and T. Asfour and D. Floreano and S. Stramigioli and J. Laumond and S. Hauert},
title = {The Rise of the Robots: The European Robotics Flagship},
pages = {121--122},
volume ={25},
number ={4},
journal ={IEEE Robotics & Automation Magazine},
year = {2018}
}
                

@ARTICLE {Ottenhaus2018a,
author = {Simon Ottenhaus and Lukas Kaul and Nikolaus Vahrenkamp and Tamim Asfour},
title = {Active Tactile Exploration Based on Cost-Aware Information Gain Maximization},
pages = {1--21},
volume ={15},
number ={1},
journal ={International Journal of Humanoid Robotics (IJHR)},
year = {2018}
}
                

@ARTICLE {Plappert2018a,
author = {Matthias Plappert and Christian Mandery and Tamim Asfour},
title = {Learning a Bidirectional Mapping Between Human Whole-Body Motion and Natural Language Using Deep Recurrent Neural Networks},
pages = {13--26},
volume ={109},
number ={},
journal ={Robotics and Autonomous Systems},
year = {2018}
}
                

@ARTICLE {RothfussFerreira2018,
author = {J. Rothfuss and F. Ferreira and E. E. Aksoy and Y. Zhou and T. Asfour},
title = {Deep Episodic Memory: Encoding, Recalling, and Predicting Episodic Experiences for Robot Action Execution},
pages = {4007--4014},
volume ={3},
number ={4},
journal ={IEEE Robotics and Automation Letters (RA-L)},
year = {2018}
}
                

@ARTICLE {Schlichting2018,
author = {Nadine Schlichting and Atser Damsma and Eren Erdal Aksoy and Mirko W\"achter and Tamim Asfour and Hedderik van Rijn},
title = {Temporal Context Influences the Perceived Duration of Everyday Actions: Assessing the Ecological Validity of Lab-Based Timing Phenomena},
pages = {1--10},
volume ={1},
number ={2},
journal ={Journal of Cognition},
year = {2018}
}
                

@ARTICLE {Vahrenkamp2018,
author = {Nikolaus Vahrenkamp and Eduard Koch and Mirko W\"achter and Tamim Asfour},
title = {Planning High-Quality Grasps using Mean Curvature Object Skeletons},
pages = {911--918},
volume ={3},
number ={2},
journal ={IEEE Robotics and Automation Letters (RA-L)},
year = {2018}
}
                

@ARTICLE {Waechter2018,
author = {Mirko W\"achter and Ekaterina Ovchinnikova and Valerij Wittenbeck and Peter Kaiser and Sandor Szedmak and Wail Mustafa and Dirk Kraft and Norbert Kr\"uger and Justus Piater and Tamim Asfour},
title = {Integrating multi-purpose natural language understanding, robot’s memory, and symbolic planning for task execution in humanoid robots},
pages = {148--165},
volume ={99},
number ={},
journal ={Robotics and autonomous systems},
year = {2018}
}
                

@INPROCEEDINGS {Asfour2018a,
author = {Tamim Asfour and Lukas Kaul and Mirko W\"achter and Simon Ottenhaus and Pascal Weiner and Samuel Rader and Raphael Grimm and You Zhou and Markus Grotz and Fabian Paus and Dmitriy Shingarey and Hans Haubert},
title = {ARMAR-6: A Collaborative Humanoid Robot for Industrial Environments},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {447--454},
year = {2018}
}
                

@INPROCEEDINGS {Beil2018,
author = {Jonas Beil and Tamim Asfour},
title = {A Rolling Contact Joint Lower Extremity Exoskeleton Knee},
booktitle = {International Conference on Intelligent Autonomous Systems (IAS)},
pages = {0--0},
year = {2018}
}
                

@INPROCEEDINGS {Beil2018b,
author = {Jonas Beil and Isabel Ehrenberger and Clara Scherer and Christian Mandery and Tamim Asfour},
title = {Human Motion Classification based on Multi-Modal Sensor Data for Lower Limb Exoskeletons},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {0--0},
year = {2018}
}
                

@INPROCEEDINGS {Borras2018,
author = {Júlia Borràs and Raphael Heudorfer and Samuel Rader and Peter Kaiser and Tamim Asfour},
title = {The KIT Swiss Knife Gripper for Disassembly Tasks: A Multi-Functional Gripper for Bimanual Manipulation with a Single Arm},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {4590--4597},
year = {2018}
}
                

@INPROCEEDINGS {Baeuerle2018,
author = {Simon B\"auerle and Lukas Kaul and Tamim Asfour},
title = {Linear Contact Modeling and Stochastic Parameter Optimization for LQR-based Whole-Body Push Recovery},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {224--231},
year = {2018}
}
                

@INPROCEEDINGS {Rothfuss2018a,
author = {Ignasi Clavera and Jonas Rothfuss and John Schulman and Yasuhiro Fujita and Tamim Asfour and Pieter Abbeel},
title = {Model-Based Reinforcement Learning via Meta-Policy Optimization},
booktitle = {International Conference on Robot Learning (CoRL)},
pages = {0--0},
year = {2018}
}
                

@INPROCEEDINGS {Gao2018,
author = {Jianfeng Gao and You Zhou and Tamim Asfour},
title = {Projected Force-Admittance Control for Compliant Bimanual Tasks},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {607--613},
year = {2018}
}
                

@INPROCEEDINGS {Grimm2018,
author = {Raphael Grimm and Abderrahmane Kheddar and Tamim Asfour},
title = {Generation of walking Motions based on Whole-Body Poses and QP Control},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {510--515},
year = {2018}
}
                

@INPROCEEDINGS {Kaiser2018a,
author = {Peter Kaiser and Christian Mandery and Andreas Boltres and Tamim Asfour},
title = {Affordance-Based Multi-Contact Whole-Body Pose Sequence Planning for Humanoid Robots in Unknown Environments},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {3114--3121},
year = {2018}
}
                

@INPROCEEDINGS {Kaiser2018c,
author = {Peter Kaiser and Markus Grotz and Fabian Paus and Tamim Asfour},
title = {Towards the Formalization of Affordances as Dempster-Shafer Belief Functions},
booktitle = {Robotics Science and Systems (RSS), 1st International Workshop on Computational Models of Affordance in Robotics},
pages = {0--0},
year = {2018}
}
                

@INPROCEEDINGS {Karrenbauer2018,
author = {Oliver Karrenbauer and Samuel Rader and Tamim Asfour},
title = {An Ontology-Based Expert System to Support the Design of Humanoid Robot Components},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {532--539},
year = {2018}
}
                

@INPROCEEDINGS {Krauss2018,
author = {Daniel Krauß and Fabian Paus and Nikolaus Vahrenkamp and Tamim Asfour and Philipp Andelfinger},
title = {Evaluating and Optimizing Component-based Robot Architectures using Network Simulation},
booktitle = {Winter Simulation Conference},
pages = {1061--1072},
year = {2018}
}
                

@INPROCEEDINGS {Ottenhaus2018b,
author = {Simon Ottenhaus and Pascal Weiner and Lukas Kaul and Andreea Tulbure and Tamim Asfour},
title = {Exploration and Reconstruction of Unknown Objects using a Novel Normal and Contact Sensor},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {1614--1620},
year = {2018}
}
                

@INPROCEEDINGS {Pankert2018,
author = {Johannes Pankert and Lukas Kaul and Tamim Asfour},
title = {Learning Efficient Omni-directional Capture Stepping for Humanoid Robots from Human Motion and Simulation Data},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {503--509},
year = {2018}
}
                

@INPROCEEDINGS {Peller2018,
author = {Fabian Peller and Mirko W\"achter and Markus Grotz and Peter Kaiser and Tamim Asfour},
title = {Temporal Concurrent Planning with Stressed Actions},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {901--908},
year = {2018}
}
                

@INPROCEEDINGS {Plappert2018,
author = {Matthias Plappert and Rein Houthooft and Prafulla Dhariwal and Szymon Sidor and Richard Y. Chen and Xi Chen and Tamim Asfour and Pieter Abbeel and Marcin Andrychowicz},
title = {Parameter Space Noise for Exploration},
booktitle = {International Conference on Learning Representations},
pages = {1--18},
year = {2018}
}
                

@INPROCEEDINGS {Schmidt2018,
author = {Philipp Schmidt and Nikolaus Vahrenkamp and Mirko W\"achter and Tamim Asfour},
title = {Grasping of Unknown Objects using Deep Convolutional Neural Networks based on Depth Images},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {6831--6838},
year = {2018}
}
                

@INPROCEEDINGS {Starke2018,
author = {Julia Starke and Christian Eichmann and Simon Ottenhaus and Tamim Asfour},
title = {Synergy-Based, Data-Driven Generation of Object-Specific Grasps for Anthropomorphic Hands},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {327--333},
year = {2018}
}
                

@INPROCEEDINGS {Weiner2018a,
author = {Pascal Weiner and Julia Starke and Felix Hundhausen and Jonas Beil and Tamim Asfour},
title = {The KIT Prosthetic Hand: Design and Control},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {3328--3334},
year = {2018}
}
                

@INPROCEEDINGS {Weiner2018b,
author = {Pascal Weiner and Caterina Neef and Tamim Asfour},
title = {A Multimodal Embedded Sensor System for Scalable Robotic and Prosthetic Fingers},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {286--292},
year = {2018}
}
                

@INPROCEEDINGS {Welschehold2018,
author = {Tim Welschehold and Christian Dornhege and Fabian Paus and Tamim Asfour and Wolfram Burgard},
title = {Coupling Mobile Base and End-Effector Motion in Task Space},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {7158--7163},
year = {2018}
}
                

@INCOLLECTION {Asfour2018,
author = {Tamim Asfour and Júlia Borràs and Christian Mandery and Peter Kaiser and Eren Erdal Aksoy and Markus Grotz},
publisher = {Springer},
booktitle = {Robotics Research, Springer Tracts in Advanced Robotics},
title = {On the dualities between grasping and whole-body loco-manipulation tasks},
pages = {205--322},
year = {2018}
}
                

@INCOLLECTION {Kaiser2018d,
author = {Peter Kaiser},
publisher = {KIT Scientific Publishing},
booktitle = {Karlsruhe Series on Humanoid Robotics},
title = {Whole-Body Affordances for Humanoid Robots: A Computational Approach},
pages = {0--0},
year = {2018}
}
                

@MISC {Rothfuss2018b,
title = {Deep Episodic Memory: Encoding, Recalling, and Predicting Episodic Experiences for Robot Action Execution},
author = {Jonas Rothfuss and Fabio Ferreira and Eren Erdal Aksoy and You Zhou and Tamim Asfour},
publisher = {Preprint on arXiv},
year = {2018}
}
                

@ARTICLE {Aksoy2017,
author = {Eren Erdal Aksoy and Ekaterina Ovchinnikova and Adil Orhan and Yezhou Yang and Tamim Asfour},
title = {Unsupervised Linking of Visual Features to Textual Descriptions in Long Manipulation Activities},
pages = {1397--1404},
volume ={2},
number ={3},
journal ={IEEE Robotics and Automation Letters (RA-L)},
year = {2017}
}
                

@ARTICLE {Borras2017,
author = {Júlia Borràs and Christian Mandery and Tamim Asfour},
title = {A Whole-Body Support Pose Taxonomy for Multi-Contact Humanoid Robot Motions},
pages = {0--0},
volume ={2},
number ={13},
journal ={Science Robotics},
year = {2017}
}
                

@INPROCEEDINGS {Beil2017,
author = {J. Beil and C. Marquardt and T. Asfour},
title = {Self-Aligning Exoskeleton Hip Joint: Kinematic Design With Five Revolute, Three Prismatic and One Ball Joint},
booktitle = {2017 International Conference on Rehabilitation Robotics (ICORR)},
pages = {1349--1355},
year = {2017}
}
                

@INPROCEEDINGS {Dreher2017,
author = {Christian R. G. Dreher and Nicklas Kulp and Christian Mandery and Mirko W\"achter and Tamim Asfour},
title = {A Framework for Evaluating Motion Segmentation Algorithms},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {83--90},
year = {2017}
}
                

@INPROCEEDINGS {Drigalski2017,
author = {F. von Drigalski and M. Gall and S. Cho and M. Ding and J. Takamatsu and T. Ogasawara and T. Asfour},
title = {Textile identification using fingertip motion and 3D force sensors in an open-source gripper},
booktitle = {2017 IEEE International Conference on Robotics and Biomimetics (ROBIO)},
pages = {424--429},
year = {2017}
}
                

@INPROCEEDINGS {Grotz2017,
author = {Markus Grotz and Timothée Habra and Renaud Ronsse and Tamim Asfour},
title = {Autonomous View Selection and Gaze Stabilization for Humanoid Robots},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {1427--1434},
year = {2017}
}
                

@INPROCEEDINGS {Grotz2017b,
author = {Markus Grotz and Peter Kaiser and Eren Erdal Aksoy and Fabian Paus and Tamim Asfour},
title = {Graph-Based Visual Semantic Perception for Humanoid Robots},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {869--875},
year = {2017}
}
                

@INPROCEEDINGS {Habra2017,
author = {Timothée Habra and Markus Grotz and David Sippel and Tamim Asfour and Renaud Ronsse},
title = {Multimodal Gaze Stabilization of a Humanoid Robot based on Reafferences},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {47--54},
year = {2017}
}
                

@INPROCEEDINGS {Kaiser2017,
author = {Peter Kaiser and Eren E. Aksoy and Markus Grotz and Dimitrios Kanoulas and Nikos G. Tsagarakis and Tamim Asfour},
title = {Experimental Evaluation of a Perceptual Pipeline for Hierarchical Affordance Extraction},
booktitle = {International Symposium on Experimental Robotics (ISER)},
pages = {136--146},
year = {2017}
}
                

@INPROCEEDINGS {Paus2017,
author = {Fabian Paus and Peter Kaiser and Nikolaus Vahrenkamp and Tamim Asfour},
title = {A Combined Approach for Robot Placement and Coverage Path Planning for Mobile Manipulation},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {6285--6292},
year = {2017}
}
                

@INPROCEEDINGS {Rader2017,
author = {Samuel Rader and Lukas Kaul and Pascal Weiner and Tamim Asfour},
title = {Highly Integrated Sensor-Actuator-Controller Units for Modular Robot Design},
booktitle = {IEEE International Conference on Advanced Intelligent Mechatronics (AIM)},
pages = {1160--1166},
year = {2017}
}
                

@INPROCEEDINGS {Steffan2017,
author = {Laura Steffan and Lukas Kaul and Tamim Asfour},
title = {Online Stability Estimation based on Inertial Sensor Data for Humanand Humanoid Fall Prevention},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {171--177},
year = {2017}
}
                

@INPROCEEDINGS {Zhou2017,
author = {You Zhou and Tamim Asfour},
title = {Task-Oriented Generalization of Dynamic Movement Primitive},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {3202--3209},
year = {2017}
}
                

@INPROCEEDINGS {Zhu2017,
author = {Qingxiaoyang Zhu and Vittorio Perera and Mirko W\"achter and Tamim Asfour and Manuela Veloso},
title = {Autonomous Narration of Humanoid Robot Kitchen Task Experience},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {390--397},
year = {2017}
}
                

@INCOLLECTION {Asfour2017,
author = {Tamim Asfour and R\"udiger Dillmann and Nikolaus Vahrenkamp and Martin Do and Mirko W\"achter and Christian Mandery and Peter Kaiser and Manfred Kr\"ohnert and Markus Grotz},
publisher = {In: Goswami A., Vadakkepat P. (eds.) Humanoid Robotics: A Reference, Springer Netherlands},
booktitle = { },
title = {The Karlsruhe ARMAR Humanoid Robot Family},
pages = {1--32},
year = {2017}
}
                

@MISC {Plappert2017a,
title = {Learning a Bidirectional Mapping Between Human Whole-Body Motion and Natural Language Using Deep Recurrent Neural Networks},
author = {Matthias Plappert and Christian Mandery and Tamim Asfour},
publisher = {Preprint on arXiv},
year = {2017}
}
                

@ARTICLE {Drigalski2016,
author = {Felix Von Drigalski and Atsutoshi Ikeda and Tsukasa Ogasawara and Tamim Asfour},
title = {A Measurement Setup for the 3D Validation of Fingertip Deformation Models},
pages = {230--237},
volume ={5},
number ={3},
journal ={International Journal of Human Factors Modelling and Simulation},
year = {2016}
}
                

@ARTICLE {Gams2015,
author = {A. Gams and T. Petric and M. Do and B. Nemec and J. Morimoto and T. Asfour and A. Ude},
title = {Adaptation and coaching of periodic motion primitives through physical and visual interaction},
pages = {340--351},
volume ={75, Part B},
number ={},
journal ={Robotics and Autonomous Systems},
year = {2016}
}
                

@ARTICLE {Mandery2016b,
author = {Christian Mandery and \"Omer Terlemez and Martin Do and Nikolaus Vahrenkamp and Tamim Asfour},
title = {Unifying Representations and Large-Scale Whole-Body Motion Databases for Studying Human Motion},
pages = {796--809},
volume ={32},
number ={4},
journal ={IEEE Transactions on Robotics},
year = {2016}
}
                

@ARTICLE {Plappert2016,
author = {Matthias Plappert and Christian Mandery and Tamim Asfour},
title = {The KIT Motion-Language Dataset},
pages = {236--252},
volume ={4},
number ={4},
journal ={Big Data},
year = {2016}
}
                

@ARTICLE {Waechter2016,
author = {Mirko W\"achter and Simon Ottenhaus and Manfred Kr\"ohnert and Nikolaus Vahrenkamp and Tamim Asfour},
title = {The ArmarX Statechart Concept: Graphical Programming of Robot Behaviour},
pages = {0--0},
volume ={3},
number ={},
journal ={Frontiers in Robotics and AI},
year = {2016}
}
                

@INPROCEEDINGS {Aksoy2016,
author = {Eren Erdal Aksoy and You Zhou and Mirko W\"achter and Tamim Asfour},
title = {Enriched Manipulation Action Semantics for Robot Execution of Time Constrained Tasks},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {109--116},
year = {2016}
}
                

@INPROCEEDINGS {Beil2016,
author = {Jonas Beil and Tamim Asfour},
title = {New Mechanism for a 3 DOF Exoskeleton Hip Joint with Five Revolute and Two Prismatic Joints},
booktitle = {6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob)},
pages = {787--792},
year = {2016}
}
                

@INPROCEEDINGS {Goldbeck2016,
author = {Cornelius Goldbeck and Lukas Kaul and Nikolaus Vahrenkamp and Florentin W\"org\"otter and Jan-Matthias Braun and Tamim Asfour},
title = {Two Ways of Walking: Contrasting a Reflexive Neuro-Controller and a LIP-Based ZMP-Controller on the Humanoid Robot ARMAR-4},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {966--972},
year = {2016}
}
                

@INPROCEEDINGS {Kaiser2016,
author = {Peter Kaiser and Eren E. Aksoy and Markus Grotz and Tamim Asfour},
title = {Towards a Hierarchy of Loco-Manipulation Affordances},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {2839--2846},
year = {2016}
}
                

@INPROCEEDINGS {Kaiser2016b,
author = {Peter Kaiser and Dimitrios Kanoulas and Markus Grotz and Luca Muratore and Alessio Rocchi and Enrico Mingo Hoffman and Nikos G. Tsagarakis and Tamim Asfour},
title = {An Affordance-Based Pilot Interface for High-Level Control of Humanoid Robots in Supervised Autonomy},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {621--628},
year = {2016}
}
                

@INPROCEEDINGS {Kaul2016,
author = {Lukas Kaul and Tamim Asfour},
title = {Human Push-Recovery: Strategy Selection Based on Push Intensity Estimation},
booktitle = {International Symposium on Robotics (ISR)},
pages = {547--554},
year = {2016}
}
                

@INPROCEEDINGS {Kaul2016b,
author = {Lukas Kaul and Simon Ottenhaus and Pascal Weiner and Tamim Asfour},
title = {The Sense of Surface Orientation - A New Sensor Modality for Humanoid Robots},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {820--825},
year = {2016}
}
                

@INPROCEEDINGS {Kroehnert2016,
author = {M. Kr\"ohnert and R. Grimm and N. Vahrenkamp and T. Asfour},
title = {Resource-Aware Motion Planning},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {32--39},
year = {2016}
}
                

@INPROCEEDINGS {Mandery2016c,
author = {Christian Mandery and Júlia Borràs and Mirjam J\"ochner and Tamim Asfour},
title = {Using Language Models to Generate Whole-Body Multi-Contact Motions},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {5411--5418},
year = {2016}
}
                

@INPROCEEDINGS {Mandery2016a,
author = {Christian Mandery and Matthias Plappert and Júlia Borràs and Tamim Asfour},
title = {Dimensionality Reduction for Whole-Body Human Motion Recognition},
booktitle = {19th International Conference on Information Fusion (FUSION)},
pages = {355--362},
year = {2016}
}
                

@INPROCEEDINGS {maniadakis2016collaboration,
author = {Michail Maniadakis and Eren Erdal Aksoy and Tamim Asfour and Panos Trahanias},
title = {Collaboration of heterogeneous agents in time constrained tasks},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {448--453},
year = {2016}
}
                

@INPROCEEDINGS {Mustafa2016,
author = {Wael Mustafa and Mirko W\"achter and Sandor Szedmak and Alejandro Agostini and Dirk Kraft and Tamim Asfour and Justus Piater and Florentin W\"org\"otter and Norbert Kr\"uger},
title = {Affordance Estimation For Vision-Based Object Replacement on a Humanoid Robot},
booktitle = {International Symposium on Robotics (ISR)},
pages = {1--9},
year = {2016}
}
                

@INPROCEEDINGS {Ottenhaus2016,
author = {Simon Ottenhaus and Martin Miller and David Schiebener and Nikolaus Vahrenkamp and Tamim Asfour},
title = {Local Implicit Surface Estimation for Haptic Exploration},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {850--856},
year = {2016}
}
                

@INPROCEEDINGS {Rader2016,
author = {Samuel Rader and Lukas Kaul and Hennes Fischbach and Nikolaus Vahrenkamp and Tamim Asfour},
title = {Design of a High-Performance Humanoid Dual Arm System with Inner Shoulder Joints},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {523--529},
year = {2016}
}
                

@INPROCEEDINGS {Schiebener2016,
author = {David Schiebener and Andreas Schmidt and Nikolaus Vahrenkamp and Tamim Asfour},
title = {Heuristic 3D Object Shape Completion based on Symmetry and Scene Context},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {74--81},
year = {2016}
}
                

@INPROCEEDINGS {Steinbring2016,
author = {Jannik Steinbring and Christian Mandery and Florian Pfaff and Florian Faion and Tamim Asfour and Uwe D. Hanebeck},
title = {Real-Time Whole-Body Human Motion Tracking Based on Unlabeled Markers},
booktitle = {IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)},
pages = {583--590},
year = {2016}
}
                

@INPROCEEDINGS {Trovato2016,
author = {Gabriele Trovato and Martin Do and \"Omer Terlemez and Christian Mandery and Hiroyuki Ishii and Nadia Bianchi-Berthouze and Tamim Asfour and Atsuo Takanishi},
title = {Is Hugging a Robot Weird?: Investigating the Influence of Robot Appearance on Users’ Perception of Hugging},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {318--323},
year = {2016}
}
                

@INPROCEEDINGS {Vahrenkamp2016,
author = {Nikolaus Vahrenkamp and Harry Arnst and Mirko W\"achter and David Schiebener and Panagiotis Sotiropoulos and Michal Kowalik and Tamim Asfour},
title = {Workspace Analysis for Planning Human-Robot Interaction Tasks},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {1298--1303},
year = {2016}
}
                

@INPROCEEDINGS {Vahrenkamp2016b,
author = {Nikolaus Vahrenkamp and Leonard Westkamp and Natsuki Yamanobe and Eren E. Aksoy and Tamim Asfour},
title = {Part-based Grasp Planning for Familiar Objects},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {919--925},
year = {2016}
}
                

@INPROCEEDINGS {Zhou2016a,
author = {You Zhou and Martin Do and Tamim Asfour},
title = {Coordinate Change Dynamic Movement Primitives - A Leader-Follower Approach},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {5481--5488},
year = {2016}
}
                

@INPROCEEDINGS {Zhou2016b,
author = {You Zhou and Martin Do and Tamim Asfour},
title = {Learning and Force Adaptation for Interactive Actions},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {1129--1134},
year = {2016}
}
                

@ARTICLE {Balaguer2015,
author = {Carlos Balaguer and Tamim Asfour and Giorgio Metta and Kazuhito Yokoi},
title = {Special Issue on 2014 IEEE-RAS International Conference on Humanoid Robots – Humans and Humanoids Face to FaceHumans and Humanoids Face to Face},
pages = {0--0},
volume ={3},
number ={12},
journal ={International Journal of Humanoid Robotics (IJHR)},
year = {2015}
}
                

@ARTICLE {Kaiser2015,
author = {Peter Kaiser and Nikolaus Vahrenkamp and Fabian Sch\"ultje and Júlia Borràs and Tamim Asfour},
title = {Extraction of Whole-Body Affordances for Loco-Manipulation Tasks},
pages = {15--31},
volume ={12},
number ={3},
journal ={International Journal of Humanoid Robotics (IJHR)},
year = {2015}
}
                

@ARTICLE {Kaul2015,
author = {Lukas Kaul and Robert Zlot and Michael Bosse},
title = {Continuous-Time Three-Dimensional Mapping for Micro Aerial Vehicles with a Passively Actuated Rotating Laser Scanner},
pages = {103--132},
volume ={33},
number ={1},
journal ={Journal of Field Robotics},
year = {2015}
}
                

@ARTICLE {Paul2015a,
author = {Johny Paul and Benjamin Oechslein and Christoph Erhardt and Jens Schedel and Manfred Kr\"ohnert and Daniel Lohmann and Walter Stechele and Tamim Asfour and Wolfgang Schröder-Preikschat},
title = {Self-adaptive corner detection on MPSoC through resource-aware programming},
pages = {520--530},
volume ={61},
number ={10},
journal ={Journal of Systems Architecture},
year = {2015}
}
                

@ARTICLE {Paul2015b,
author = {Johny Paul and Walter Stechele and Benjamin Oechslein and Christoph Erhardt and Jens Schedel and Daniel Lohmann and Wolfgang Schr\"oder-Preikschat and Manfred Kr\"ohnert and Tamim Asfour and Ericles Sousa and Vahid Lari and Frank Hannig and J\"urgen Teich and Artjom Grudnitsky and Lars Bauer and J\"org Henkel},
title = {Resource-awareness on heterogeneous MPSoCs for image processing},
pages = {668--680},
volume ={61},
number ={10},
journal ={Journal of Systems Architecture},
year = {2015}
}
                

@ARTICLE {Takano2015,
author = {Wataru Takano and Tamim Asfour and Petar Kormushev},
title = {Special Issue on Humanoid Robotics},
pages = {0--0},
volume ={29},
number ={5},
journal ={Advanced Robotics},
year = {2015}
}
                

@ARTICLE {Trovato2015,
author = {Gabriele Trovato and Massimiliano Zecca and Martin Do and \"Omer Terlemez and Masuko Kuramochi and Alexander Waibel and Tamim Asfour and Atsuo Takanishi},
title = {A Novel Greeting Selection System for a Culture-Adaptive Humanoid Robot},
pages = {0--0},
volume ={12},
number ={34},
journal ={International Journal of Advanced Robotic Systems},
year = {2015}
}
                

@ARTICLE {Vahrenkamp2014,
author = {Nikolaus Vahrenkamp and Tamim Asfour},
title = {Representing the robot’s workspace through constrained manipulability analysis},
pages = {17--30},
volume ={38},
number ={1},
journal ={Autonomous Robots},
year = {2015}
}
                

@ARTICLE {Vahrenkamp2015,
author = {N. Vahrenkamp and M. W\"achter and M. Kr\"ohnert and K. Welke and T. Asfour},
title = {The Robot Software Framework ArmarX},
pages = {99--111},
volume ={57},
number ={2},
journal ={Information Technology},
year = {2015}
}
                

@ARTICLE {Woergoetter2015,
author = {Florentin W\"org\"otter and Chris Geib and Minija Tamosiunaite and Eren Erdal Aksoy and Justus Piater and Hanchen Xiong and Ales Ude and Bojan Nemec and Dirk Kraft and Norbert Kr\"uger and Mirko W\"achter and Tamim Asfour},
title = {Structural bootstrapping - a novel concept for the fast acquisition of action-knowledge},
pages = {140--154},
volume ={7},
number ={2},
journal ={IEEE Transactions on Autonomous Mental Development},
year = {2015}
}
                

@INPROCEEDINGS {Asfour2015,
author = {Tamim Asfour and Júlia Borràs and Christian Mandery and Peter Kaiser and Eren Erdal Aksoy and Markus Grotz},
title = {On the dualities between grasping and whole-body loco-manipulation tasks},
booktitle = {International Symposium on Robotics Research (ISRR)},
pages = {305--322},
year = {2015}
}
                

@INPROCEEDINGS {Beil2015,
author = {Jonas Beil and Gernot Perner and Tamim Asfour},
title = {Design and Control of a Lower Limb Exoskeleton (KIT-EXO-1)},
booktitle = {International Conference on Rehabilitation Robotics (ICORR)},
pages = {119--124},
year = {2015}
}
                

@INPROCEEDINGS {Borras2015,
author = {Júlia Borràs and Tamim Asfour},
title = {A Whole-Body Pose Taxonomy for Loco-Manipulation Tasks},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {1578--1585},
year = {2015}
}
                

@INPROCEEDINGS {Brinker2015,
author = {Jan Oskar Brinker and Takamitsu Matsubara and Tatsuya Teramae and Tomoyuki Noda and Tsukasa Ogasawarsa and Tamim Asfour and Jun Morimoto},
title = {Walking Pattern Prediction with Partial Observation for Partial Walking Assistance by using an Exoskeleton System},
booktitle = {International Conference on Rehabilitation Robotics (ICORR)},
pages = {139--144},
year = {2015}
}
                

@INPROCEEDINGS {Haustein2015,
author = {Joshua A. Haustein and Jennifer King and Siddhartha S. Srinivasa and Tamim Asfour},
title = {Kinodynamic Randomized Rearrangement Planning via Dynamic Transitions Between Statically Stable States},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {3075--3082},
year = {2015}
}
                

@INPROCEEDINGS {Kaiser2015a,
author = {Peter Kaiser and Markus Grotz and Eren E. Aksoy and Martin Do and Nikolaus Vahrenkamp and Tamim Asfour},
title = {Validation of Whole-Body Loco-Manipulation Affordances for Pushability and Liftability},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {920--927},
year = {2015}
}
                

@INPROCEEDINGS {King2015,
author = {Jennifer King and Joshua A. Haustein and Siddhartha S. Srinivasa and Tamim Asfour},
title = {Nonprehensile Whole Arm Rearrangement Planning with Physics Manifolds},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {2508--2515},
year = {2015}
}
                

@INPROCEEDINGS {Mandery2015b,
author = {Christian Mandery and Júlia Borràs and Mirjam J\"ochner and Tamim Asfour},
title = {Analyzing Whole-Body Pose Transitions in Multi-Contact Motions},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {1020--1027},
year = {2015}
}
                

@INPROCEEDINGS {Mandery2015a,
author = {Christian Mandery and \"Omer Terlemez and Martin Do and Nikolaus Vahrenkamp and Tamim Asfour},
title = {The KIT Whole-Body Human Motion Database},
booktitle = {International Conference on Advanced Robotics (ICAR)},
pages = {329--336},
year = {2015}
}
                

@INPROCEEDINGS {Ni2015,
author = {Feng Ni and Daniel Rojas and Kai Tang and Lilong Cai and Tamim Asfour},
title = {A Jumping Robot Using Soft Pneumatic Actuator},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {3154--3159},
year = {2015}
}
                

@INPROCEEDINGS {Paikan2015,
author = {Ali Paikan and David Schiebener and Mirko W\"achter and Tamim Asfour and Giorgio Metta and Lorenzo Natale},
title = {Transferring Object Grasping Knowledge and Skill Across Different Robotic Platforms},
booktitle = {International Conference on Advanced Robotics (ICAR)},
pages = {498--503},
year = {2015}
}
                

@INPROCEEDINGS {Vahrenkamp2015b,
author = {Nikolaus Vahrenkamp and Dominik Muth and Peter Kaiser and Tamim Asfour},
title = {IK-MAP: An Enhanced Workspace Representation to Support Inverse Kinematics Solvers},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {785--790},
year = {2015}
}
                

@INPROCEEDINGS {Waechter2015,
author = {Mikro W\"achter and Tamim Asfour},
title = {Hierarchical Segmentation of Manipulation Actions based on Object Relations and Motion Characteristics},
booktitle = {International Conference on Advanced Robotics (ICAR)},
pages = {549--556},
year = {2015}
}
                

@ARTICLE {Bohg2014,
author = {J. Bohg and A. Morales and T. Asfour and D. Kragic},
title = {Data-Driven Grasp Synthesis – A Survey},
pages = {289--309},
volume ={30},
number ={2},
journal ={IEEE Transactions on Robotics},
year = {2014}
}
                

@ARTICLE {Herzog2014,
author = {A. Herzog and P. Pastor and M. Kalakrishnan and L. Righetti and J. Bohg and T. Asfour and S. Schaal},
title = {Learning of Grasp Selection based on Shape-Templates},
pages = {51--65},
volume ={36},
number ={1-2},
journal ={Autonomous Robots},
year = {2014}
}
                

@ARTICLE {Paul2014:racing,
author = {Johny Paul and Walter Stechele and Manfred Kr\"ohnert and Tamim Asfour},
title = {Resource-Aware Programming for Robotic Vision},
pages = {0--0},
volume ={abs/1405.2908},
number ={},
journal ={CoRR},
year = {2014}
}
                

@INPROCEEDINGS {Do2014,
author = {M. Do and J. Schill and J. Ernesti and T. Asfour},
title = {Learn to Wipe: A Case Study of Structural Bootstrapping from Sensorimotor Experience},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {1858--1864},
year = {2014}
}
                

@INPROCEEDINGS {Drigalski2014,
author = {Felix Von Drigalski and Atsutoshi Ikeda and Tamim Asfour and Tsukasa Ogasawara},
title = {A Measurement Setup for the 3D Validation of Fingertip Deformation Models},
booktitle = {International Conference on Digital Human Modeling Symposium (DHM)},
pages = {230--237},
year = {2014}
}
                

@INPROCEEDINGS {Felip2014,
author = {Javier Felip and Antonio Morales and Tamim Asfour},
title = {Multi-Sensor and Prediction Fusion for Contact Detection and Localization},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {601--607},
year = {2014}
}
                

@INPROCEEDINGS {Gonzalez2014a,
author = {D. Gonzalez-Aguirre and M. Vollert and T. Asfour and R. Dillmann},
title = {Robust Real-time 6D Active-visual Localization for Humanoid Robots},
booktitle = {The IEEE international conference on robotics and automation, ICRA 2014, Hong Kong, China.},
pages = {2785--2791},
year = {2014}
}
                

@INPROCEEDINGS {Illing2014,
author = {Boris Illing and Tamim Asfour and Nancy S. Pollard},
title = {Changing Pre-Grasp Strategies With Increasing Object Location Uncertainty},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {2468--2475},
year = {2014}
}
                

@INPROCEEDINGS {Kaiser2014a,
author = {Peter Kaiser and David Gonzalez-Aguirre and Fabian Sch\"ultje and Júlia Borràs and Nikolaus Vahrenkamp and Tamim Asfour},
title = {Extracting Whole-Body Affordances from Multimodal Exploration},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {1036--1043},
year = {2014}
}
                

@INPROCEEDINGS {Kaiser2014,
author = {Peter Kaiser and Mike Lewis and Ronald P. A. Petrick and Tamim Asfour and Mark Steedman},
title = {Extracting Common Sense Knowledge from Text for Robot Planning},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {3749--3756},
year = {2014}
}
                

@INPROCEEDINGS {Kroehnert2014,
author = {Manfred Kr\"ohnert and Nikolaus Vahrenkamp and Johny Paul and Walter Stechele and Tamim Asfour},
title = {Resource Prediction for Humanoid Robots},
booktitle = {Proceedings of the First Workshop on Resource Awareness and Adaptivity in Multi-Core Computing (Racing 2014)},
pages = {22--28},
year = {2014}
}
                

@INPROCEEDINGS {paul2014:arcs,
author = {Johny Paul and Walter Stechele and Manfred Kr\"ohnert and Tamim Asfour and Benjamin Oechslein and Christoph Erhardt and Jens Schedel and Daniel Lohmann and Wolfgang Schr\"oder-Preikschat},
title = {Resource-Aware Harris Corner Detection based on Adaptive Pruning},
booktitle = {Proceedings of the Conference on Architecture of Computing Systems (ARCS)},
pages = {1--12},
year = {2014}
}
                

@INPROCEEDINGS {Paul2014c,
author = {Johny Paul and Walter Stechele and Manfred Kroehnert and Tamim Asfour},
title = {Improving Efficiency of Embedded Multi-core Platforms with Scratchpad Memories},
booktitle = {Architecture of Computing Systems (ARCS), 2014 27th International Conference on},
pages = {1--8},
year = {2014}
}
                

@INPROCEEDINGS {paul2014d,
author = {Johny Paul and Walter Stechele and Ericles Sousa and Vahid Lari and Frank Hannig and J\"urgen Teich and Manfred Kr\"ohnert and Tamim Asfour},
title = {Self-adaptive harris corner detector on heterogeneous many-core processor},
booktitle = {Design and Architectures for Signal and Image Processing (DASIP), 2014 Conference on},
pages = {1--8},
year = {2014}
}
                

@INPROCEEDINGS {Schiebener2014,
author = {D. Schiebener and A. Ude and T. Asfour},
title = {Physical Interaction for Segmentation of Unknown Textured and Non-textured Rigid Objects},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {4959--4966},
year = {2014}
}
                

@INPROCEEDINGS {Schiebener2014b,
author = {David Schiebener and Nikolaus Vahrenkamp and Tamim Asfour},
title = {Visual Collision Detection for Corrective Movements during Grasping on a Humanoid Robot},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {105--111},
year = {2014}
}
                

@INPROCEEDINGS {Suwelack2014,
author = {S. Suwelack and C. Sander and J. Schill and Manuel Serf and M. Danz and T. Asfour and W. Burger and R. Dillmann and S. Speidel},
title = {Towards open-source, low-cost haptics for surgery simulation},
booktitle = {Medicine Meets Virtual Reality (MMVR)},
pages = {401--403},
year = {2014}
}
                

@INPROCEEDINGS {Terlemez2014,
author = {Oemer Terlemez and Stefan Ulbrich and Christian Mandery and Martin Do and Nikolaus Vahrenkamp and Tamim Asfour},
title = {Master Motor Map (MMM) - Framework and Toolkit for Capturing, Representing, and Reproducing Human Motion on Humanoid Robots},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {894--901},
year = {2014}
}
                

@INPROCEEDINGS {Trovato2014,
author = {G. Trovato and M. Do and M. Kuramochi and O. Terlemez and T. Asfour and A. Takanishi},
title = {A novel culture-dependent gesture selection system for a humanoid robot performing greeting interaction},
booktitle = {International Conference on Social Robotics (ICSR)},
pages = {340--349},
year = {2014}
}
                

@INPROCEEDINGS {Vahrenkamp2014b,
author = {N. Vahrenkamp and M. W\"achter and M. Kr\"ohnert and P. Kaiser and K. Welke and T. Asfour},
title = {High-Level Robot Control with ArmarX},
booktitle = {INFORMATIK – Workshop on Robot Control Architectures},
pages = {0--0},
year = {2014}
}
                

@ARTICLE {Asfour2013a,
author = {Tamim Asfour and Nikolaus Vahrenkamp and David Schiebener and Martin Do and Markus Przybylski and Kai Welke and Julian Schill and R\"udiger Dillmann},
title = {ARMAR-III: Advances in Humanoid Grasping and Manipulation},
pages = {341--346},
volume ={31},
number ={4},
journal ={Journal of the Robotics Society of Japan},
year = {2013}
}
                

@ARTICLE {Schiebener2013,
author = {D. Schiebener and J. Morimoto and T. Asfour and A. Ude},
title = {Integrating visual perception and manipulation for autonomous learning of object representations},
pages = {328--345},
volume ={21},
number ={5},
journal ={Adaptive Behavior},
year = {2013}
}
                

@INPROCEEDINGS {Asfour2013,
author = {Tamim Asfour and Julian Schill and Heiner Peters and Cornelius Klas and Jens B\"ucker and Christian Sander and Stefan Schulz and Artem Kargov and Tino Werner and Volker Bartenbach},
title = {ARMAR-4: A 63 DOF Torque Controlled Humanoid Robot},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {390--396},
year = {2013}
}
                

@INPROCEEDINGS {Denisa2013,
author = {Miha Deniša and Tadej Petrič and Tamim Asfour and Aleš Ude},
title = {Synthesizing Compliant Reaching Movements by Searching a Database of Example Trajectories},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {540--546},
year = {2013}
}
                

@INPROCEEDINGS {Fukaya2013,
author = {Naoki Fukaya and Tamim Asfour and R\"diger Dillmann and Shigeki Toyama},
title = {Development of a Five-Finger Dexterous Hand without Feedback Control: The TUAT/Karlsruhe Humanoid Hand},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {4533--4540},
year = {2013}
}
                

@INPROCEEDINGS {Gams2013,
author = {A. Gams and B. Nemec and L. Zlajpah and M. W\"achter and A. Ijspeert and T. Asfour and A. Ude},
title = {Modulation of Motor Primitives using Force Feedback: Interaction with the Environment and Bimanual Tasks},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {5629--5635},
year = {2013}
}
                

@INPROCEEDINGS {Gonzalez2013,
author = {D. Gonzalez-Aguirre and T. Asfour and R. Dillmann},
title = {Optimal High-Dynamic-Range Image Acquisition for Humanoid Robots},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {2586--2593},
year = {2013}
}
                

@INPROCEEDINGS {Kaztschmann2013,
author = {Robert Katzschmann and Torsten Kr\"oger and Tamim Asfour and Oussama Khatib},
title = {Towards Online Trajectory Generation Considering Robot Dynamics and Torque Limits},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {5644--5651},
year = {2013}
}
                

@INPROCEEDINGS {Paul2013:dasip,
author = {Johny Paul and Walter Stechele and Manfred Kr\"ohnert and Tamim Asfour and Benjamin Oechslein and Christoph Erhardt and Jens Schedel and Daniel Lohmann and Wolfgang Schr\"oder-Preikschat},
title = {A Resource-Aware Nearest Neighbor Search Algorithm for K-Dimensional Trees},
booktitle = {Proceedings of the 2013 Conference on Design & Architectures for Signal & Image Processing (DASIP 2013)},
pages = {80--87},
year = {2013}
}
                

@INPROCEEDINGS {Sousa2013:PARS,
author = {Éricles R. Sousa and Alexandru Tanase and Vahid Lari and Frank Hannig and J\"urgen Teich and Johny Paul and Walter Stechele and Manfred Kr\"ohnert and Tamim Asfour},
title = {Acceleration of Optical Flow Computations on Tightly-Coupled Processor Arrays},
booktitle = {Proceedings of the 25th Workshop on Parallel Systems and Algorithms (PARS)},
pages = {0--0},
year = {2013}
}
                

@INPROCEEDINGS {Ulbrich2013a,
author = {Stefan Ulbrich and Tamim Asfour},
title = {Improving Body Schema Learning with Kinematic Bezier Maps by Symmetry Constraints},
booktitle = {ICRA Workshop on Autonomous Learning},
pages = {0--0},
year = {2013}
}
                

@INPROCEEDINGS {Vahrenkamp2013,
author = {N. Vahrenkamp and T. Asfour and R. Dillmann},
title = {Robot Placement based on Reachability Inversion},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {1970--1975},
year = {2013}
}
                

@INPROCEEDINGS {Welke2013c,
author = {Kai Welke and Peter Kaiser and Alexey Kozlov and Nils Adermann and Tamim Asfour and Mike Lewis and Mark Steedman},
title = {Grounded Spatial Symbols for Task Planning Based on Experience},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {484--491},
year = {2013}
}
                

@INPROCEEDINGS {Welke2013,
author = {K. Welke and D. Schiebener and T. Asfour and R. Dillmann},
title = {Gaze selection during manipulation tasks},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {652--659},
year = {2013}
}
                

@INPROCEEDINGS {Welke2013b,
author = {Kai Welke and Nikolaus Vahrenkamp and Mirko W\"achter and Manfred Kroehnert and Tamim Asfour},
title = {The ArmarX Framework - Supporting high level robot programming through state disclosure},
booktitle = {GI Annual German Conference on Informatics},
pages = {2823--2837},
year = {2013}
}
                

@INPROCEEDINGS {Waechter2013,
author = {M. W\"achter and S. Schulz and T. Asfour and E. Aksoy and F. W\"org\"otter and R. Dillmann},
title = {Action Sequence Reproduction based on Automatic Segmentation and Object-Action Complexes},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {189--195},
year = {2013}
}
                

@INPROCEEDINGS {Yamane2013,
author = {Katsu Yamane and Marcel Revfi and Tamim Asfour},
title = {Synthesizing object receiving motions of humanoid robots with human motion database.},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {1629--1636},
year = {2013}
}
                

@INCOLLECTION {Przybylski2013,
author = {M. Przybylski and N. Vahrenkamp and T. Asfour and R. Dillmann},
publisher = {Springer},
booktitle = {Grasping in Robotics},
title = {Grasp and Motion Planning for Humanoid Robots},
pages = {329--359},
year = {2013}
}
                

@ARTICLE {Boege2012,
author = {C. B\"oge and N. Vahrenkamp and T. Asfour and R. Dillmann},
title = {Visual Servoing for Single and Dual Arm Manipulation Tasks in Humanoid Robots},
pages = {309--317},
volume ={60},
number ={5},
journal ={at - Automatisierungstechnik},
year = {2012}
}
                

@ARTICLE {Kappler2012,
author = {Daniel Kappler and Lillian Y. Chang and Nancy S. Pollard and Tamim Asfour and R\"udiger Dillmann},
title = {Templates for pre-grasp sliding interactions},
pages = {411--423},
volume ={60},
number ={3},
journal ={Robotics and Autonomous Systems},
year = {2012}
}
                

@ARTICLE {Ulbrich2012a,
author = {S. Ulbrich and V. Ruiz and T. Asfour and C. Torras and R. Dillmann},
title = {General Kinematics Decomposition without Intermediate Markers},
pages = {620--630},
volume ={23},
number ={4},
journal ={IEEE Transactions on Neural Networks and Learning Systems},
year = {2012}
}
                

@ARTICLE {Ulbrich2012b,
author = {S. Ulbrich and V. Ruiz and T. Asfour and C. Torras and R. Dillmann},
title = {Kinematic Bézier Maps},
pages = {1215--1230},
volume ={42},
number ={4},
journal ={IEEE Transactions on Systems, Man, and Cybernetics},
year = {2012}
}
                

@ARTICLE {Vahrenkamp12d,
author = {Nikolaus Vahrenkamp and Tamim Asfour and R\"udiger Dillmann},
title = {Efficient Inverse Kinematics Computation based on Reachability Analysis},
pages = {0--0},
volume ={9},
number ={4},
journal ={International Journal of Humanoid Robotics (IJHR)},
year = {2012}
}
                

@ARTICLE {Vahrenkamp2012,
author = {N. Vahrenkamp and T. Asfour and R. Dillmann},
title = {Simultaneous Grasp and Motion Planning},
pages = {43--57},
volume ={19},
number ={2},
journal ={IEEE Robotics & Automation Magazine},
year = {2012}
}
                

@INPROCEEDINGS {Bohg2012,
author = {J. Bohg and K. Welke and B. Leon and M. Do and D. Song and W. Wohlkinger and M. Madry and A. Aldoma and M. Przybylski and T. Asfour and H. Marti and D. Kragic and A. Morales and M. Vincze},
title = {Task-based Grasp Adaptation on a Humanoid Robot},
booktitle = {10th IFAC Symposium on Robot Control (SYROCO 2012)},
pages = {779--786},
year = {2012}
}
                

@INPROCEEDINGS {Ernesti2012,
author = {J. Ernesti and L. Righetti and M. Do and T. Asfour and S. Schaal},
title = {Encoding of Periodic and their Transient Motions by a Single Dynamic Movement Primitive},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {57--64},
year = {2012}
}
                

@INPROCEEDINGS {Gonzalez2012,
author = {D. Gonzalez-Aguirre and T. Asfour and R. Dillmann},
title = {Ground-Truth Uncertainty Model of Visual Depth Perception for Humanoid Robots},
booktitle = {Humanoid Robots (Humanoids), 2010 10th IEEE-RAS International Conference on},
pages = {436--442},
year = {2012}
}
                

@INPROCEEDINGS {Herzog2012,
author = {A. Herzog and P. Pastor and M. Kalakrishnan and L. Righetti and T. Asfour and S. Schaal},
title = {Template-based learning of grasp selection},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {2379--2384},
year = {2012}
}
                

@INPROCEEDINGS {Kaiser2012,
author = {Peter Kaiser and Dmitry Berenson and Nikolaus Vahrenkamp and Tamim Asfour and R\"udiger Dillmann and Siddhartha Srinivasa},
title = {Constellation - An Algorithm for Finding Robot Configurations that Satisfy Multiple Constraints},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {436--443},
year = {2012}
}
                

@INPROCEEDINGS {lengagne2012retr,
author = {Sébastien Lengagne and Oemer Terlemez and Sophie Laturnus and Tamim Asfour and Ruediger Dillmann},
title = {Retrieving Contact Points Without Environment Knowledge},
booktitle = {IEEE-RAS International conference on Humanoid robots},
pages = {841--846},
year = {2012}
}
                

@INPROCEEDINGS {Navarro2012,
author = {S. Navarro and N.Gorges and H. W\"orn and J. Schill and T. Asfour and R. Dillmann},
title = {Haptic object recognition for multi-fingered robot hands},
booktitle = {IEEE Haptics Symposium},
pages = {497--502},
year = {2012}
}
                

@INPROCEEDINGS {PS12aspdac,
author = {Johny Paul and Walter Stechele and Manfred Kr\"ohnert and Tamim Asfour and R\"udiger Dillmann},
title = {Invasive Computing for Robotic Vision},
booktitle = {Proceedings of the 17th Asia and South Pacific Design Automation Conference (ASP-DAC)},
pages = {207--212},
year = {2012}
}
                

@INPROCEEDINGS {Przybylski2012,
author = {M. Przybylski and M. W\"achter and T. Asfour and R. Dillmann},
title = {A Skeleton-based Approach to Grasp Known Objects with a Humanoid Robot},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {376--383},
year = {2012}
}
                

@INPROCEEDINGS {Schiebener2012,
author = {D. Schiebener and J. Schill and T. Asfour},
title = {Discovery, Segmentation and Reactive Grasping of Unknown Objects},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {71--77},
year = {2012}
}
                

@INPROCEEDINGS {Schill2012,
author = {J. Schill and J. Laaksonen and M. Przybylski and V. Kyrki and T. Asfour and R. Dillmann},
title = {Learning continuous grasp stability for a humanoid robot hand based on tactile sensing},
booktitle = {IEEE RAS EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob)},
pages = {1901--1906},
year = {2012}
}
                

@INPROCEEDINGS {Ude2012,
author = {A. Ude and D. Schiebener and N. Sugimoto and J. Morimoto},
title = {Integrating surface-based hypotheses and manipulation for autonomous segmentation and learning of object representations},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {1709--1715},
year = {2012}
}
                

@INPROCEEDINGS {Ulbrich2012c,
author = {S. Ulbrich and M. Bechtel and T. Asfour and R. Dillmann},
title = {Learning Robot Dynamics with Kinematic Bézier Maps},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {0--0},
year = {2012}
}
                

@INPROCEEDINGS {Vahrenkamp12c,
author = {Nikolaus Vahrenkamp and Tamim Asfour and Giorgio Metta and Giulio Sandini and R\"udiger Dillmann},
title = {Manipulability Analysis},
booktitle = {Humanoids},
pages = {568--573},
year = {2012}
}
                

@INPROCEEDINGS {Vahrenkamp12b,
author = {Nikolaus Vahrenkamp and Manfred Kr\"ohnert and Stefan Ulbrich and Tamim Asfour and Giorgio Metta and R\"udiger Dillmann and Giulio Sandini},
title = {Simox: A Robotics Toolbox for Simulation, Motion and Grasp Planning},
booktitle = {International Conference on Intelligent Autonomous Systems (IAS)},
pages = {585--594},
year = {2012}
}
                

@ARTICLE {Asfour2011,
author = {T. Asfour and M. Do and K. Welke and A. Bierbaum and P. Azad and N. Vahrenkamp and S. G\"artner and A. Ude and R. Dillmann},
title = {From sensorimotor primitives to manipulation and imitation strategies in humanoid robots},
pages = {363--378},
volume ={70},
number ={STAR},
journal ={Robotics Research, Springer Tracts in Advanced Robotics},
year = {2011}
}
                

@ARTICLE {Fischer2011,
author = {Andreas Fischer and Martin Do and Thorsten Stein and Tamim Asfour and R\"udiger Dillmann and Hermann Schwameder},
title = {Recognition of Individual Kinematic Patterns during Walking and Running - A Comparison of Artificial Neural Networks and Support Vector Machines},
pages = {63--67},
volume ={10},
number ={1},
journal ={Int. J. Comp. Sci. Sport},
year = {2011}
}
                

@ARTICLE {Goldman2011,
author = {Robert P. Goldman and Christopher W. Geib and Henry Kautz and Tamim Asfour},
title = {Plan Recognition (Dagstuhl Seminar 11141)},
pages = {1--22},
volume ={1},
number ={4},
journal ={Dagstuhl Reports},
year = {2011}
}
                

@ARTICLE {KruegerEtAlRas2011,
author = {Norbert Kr\"uger and Christopher Geib and Justus Piater and Ronald Petrick and Mark Steedman and Florentin W\"org\"otter and Aleš Ude and Tamim Asfour and Dirk Kraft and Damir Omrčen and Alejandro Agostini and R\"udiger Dillmann},
title = {Object-Action Complexes: Grounded Abstractions of Sensorimotor Processes},
pages = {740--757},
volume ={59},
number ={},
journal ={Robotics and Autonomous Systems},
year = {2011}
}
                

@INPROCEEDINGS {Asfour2011b,
author = {Tamim Asfour},
title = {Towards High-Performance 24/7 Cognitive Humanoids},
booktitle = {Berlin Summit on Robotics},
pages = {53--61},
year = {2011}
}
                

@INPROCEEDINGS {Azad2011,
author = {P. Azad and D. M\"unch and T. Asfour and R. Dillmann},
title = {6-DoF Model-based Tracking of Arbitrarily Shaped 3D Objects},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {5204--5209},
year = {2011}
}
                

@INPROCEEDINGS {Do2011a,
author = {M. Do and T. Asfour and R. Dillmann},
title = {Towards a Unifying Grasp Representation for Imitation Learning on Humanoid Robots},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {482--488},
year = {2011}
}
                

@INPROCEEDINGS {Do2011b,
author = {M. Do and T. Asfour and R. Dillmann},
title = {Particle Filter-Based Fingertip Tracking with Circular Hough Transform Features},
booktitle = {IAPR Machine Vision Applications (MVA’11)},
pages = {0--0},
year = {2011}
}
                

@INPROCEEDINGS {Gonzalez2012b,
author = {D. Gonzalez-Aguirre and T. Asfour and R. Dillmann},
title = {Robust Image Acquisition for Vision-Model Coupling by Humanoid Robots},
booktitle = {None},
pages = {557--561},
year = {2011}
}
                

@INPROCEEDINGS {Gonzalez2011a,
author = {D. Gonzalez-Aguirre and J. Hoch and S. Rohl and T. Asfour and E. Bayro-Corrochano and R. Dillmann},
title = {Towards shape-based visual object categorization for humanoid robots},
booktitle = {Robotics and Automation (ICRA), 2011 IEEE International Conference on},
pages = {5226--5232},
year = {2011}
}
                

@INPROCEEDINGS {Herzog2011,
author = {A. Herzog and P. Pastor and M. Kalakrishnan and L. Righetti and T. Asfour and S. Schaal},
title = {Template-Based Learning of Grasp Selection},
booktitle = {Proceedings IROS-2011 Workshop “The PR2 Workshop -Results, Challenges and Lessons Learned in Advancing Robots with a Common Platform”},
pages = {0--0},
year = {2011}
}
                

@INPROCEEDINGS {Przybylski2011,
author = {M. Przybylski and T. Asfour and R. Dillmann},
title = {Planning Grasps for Robotic Hands using a Novel Object Representation based on the Medial Axis Transform},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {1781--1788},
year = {2011}
}
                

@INPROCEEDINGS {Przybylski2011a,
author = {M. Przybylski and R. Gilster and T. Asfour and H. Deubel and R. Dillmann},
title = {Human-Inspired Selection of Grasp Hypotheses for Execution on a Humanoid Robot},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {643--649},
year = {2011}
}
                

@INPROCEEDINGS {Roehl2011,
author = {S. Roehl and S. Speidel and D. Gonzalez-Aguirre and S. Suwelack and H. Kenngott and T. Asfour and B. Mueller-Stich and R. Dillmann},
title = {From Stereo Image Sequences to Smooth and Robust Surface Models using Temporal Information and Bilateral Postprocessing},
booktitle = {IEEE International conference on Robotics and Biomimetics},
pages = {544--550},
year = {2011}
}
                

@INPROCEEDINGS {Schiebener2011,
author = {D. Schiebener and A. Ude and J. Morimoto and T. Asfour and R. Dillmann},
title = {Segmentation and learning of unknown objects through physical interaction},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {500--506},
year = {2011}
}
                

@INPROCEEDINGS {Ulbrich2011,
author = {Stefan Ulbrich and Daniel Kappler and Tamim Asfour and Nikolaus Vahrenkamp and Alexander Bierbaum and Markus Przybylski and R\"udiger Dillmann},
title = {The OpenGRASP Benchmarking Suite: An Environment for the Comparative Analysis of Grasping and Dexterous Manipulation},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {3598--3604},
year = {2011}
}
                

@INPROCEEDINGS {Vahrenkamp2011,
author = {N. Vahrenkamp and P. Kaiser and T. Asfour and R. Dillmann},
title = {RDT+: A Parameter–free Algorithm for Exact Motion Planning},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {715--722},
year = {2011}
}
                

@INPROCEEDINGS {Vahrenkamp2011a,
author = {N. Vahrenkamp and M. Przybylski and T. Asfour and R. Dillmann},
title = {Bimanual Grasp Planning},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {493--499},
year = {2011}
}
                

@INPROCEEDINGS {Welke2011,
author = {K. Welke and T. Asfour and R. Dillmann},
title = {Inhibition of return in the Bayesian strategy to active visual search},
booktitle = {IAPR Conference on Machine Vision Applications},
pages = {79--83},
year = {2011}
}
                

@ARTICLE {Dillmann2010,
author = {R\"udiger Dillmann and Tamim Asfour and Martin Do and Rainer J\"akel and Alexander Kasper and Pedram Azad and Aleš Ude and Sven Schmidt-Rohr and Martin L\"osch},
title = {Advances in Robot Programming by Demonstration},
pages = {295--303},
volume ={24},
number ={4},
journal ={KI - K\"unstliche Intelligenz},
year = {2010}
}
                

@ARTICLE {Gonzalez-Aguirre2010a,
author = {D. Gonzalez-Aguirre and T. Asfour and R. Dillmann},
title = {Towards stratified model-based environmental visual perception for humanoid robots},
pages = {2254--2260},
volume ={Volume 32, Issue 16, Available online 13 October 2010},
number ={},
journal ={Pattern Recognition Letters, Special Issue on Advances in Theory and Applications of Pattern Recognition, Image Processing and Computer Vision.},
year = {2010}
}
                

@ARTICLE {Popovic2010,
author = {Mila Popović and Dirk Kraft and Leon Bodenhagen and Emre Ba\cseski and Nicolas Pugeault and Danica Kragic and Tamim Asfour and Norbert Kr\"uger},
title = {A strategy for grasping unknown objects based on co-planarity and colour information},
pages = {551--565},
volume ={58},
number ={5},
journal ={Robotics and Autonomous Systems},
year = {2010}
}
                

@ARTICLE {Ude2010a,
author = {A. Ude and A. Gams and T. Asfour and J. Morimoto},
title = {Task-Specific Generalization of Discrete and Periodic Dynamic Movement Primitives},
pages = {800--815},
volume ={26},
number ={5},
journal ={IEEE Transactions on Robotics},
year = {2010}
}
                

@ARTICLE {Werner2010,
author = {Tino Werner and Artem Kargov and Immanuel Gaiser and Alexander Bierbaum and Julian Schill and Stefan Schulz and Georg Bretthauer},
title = {A Fluidic Driven Anthropomorphic Robotic Hand},
pages = {681--687},
volume ={58},
number ={12},
journal ={at - Automatisierungstechnik},
year = {2010}
}
                

@INPROCEEDINGS {Gams2010,
author = {A. Gams and M. Do and A. Ude and T. Asfour and R. Dillmann},
title = {On-Line Periodic Movement and Force-Profile Learning for Adaptation to New Surfaces},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {560--565},
year = {2010}
}
                

@INPROCEEDINGS {Gonzalez2010a,
author = {D. Gonzalez-Aguirre and T. Asfour and R. Dillmann},
title = {Eccentricity Edge-Graphs from HDR Images for Object Recognition by Humanoid Robots},
booktitle = {Humanoid Robots (Humanoids), 2010 10th IEEE-RAS International Conference on},
pages = {144--151},
year = {2010}
}
                

@INPROCEEDINGS {Gaertner2010,
author = {S. G\"artner and M. Do and C. Simonidis and T. Asfour and W. Seemann and R. Dillmann},
title = {Generation of Human-like Motion for Humanoid Robots Based on Marker-based Motion Capture Data},
booktitle = {41th International Symposium on Robotics (ISR)},
pages = {1--8},
year = {2010}
}
                

@INPROCEEDINGS {Kappler2010,
author = {D. Kappler and L. Chang and M. Przybylski and N. S. Pollard and T. Asfour and R. Dillmann},
title = {Representation of Pre-Grasp Strategies for Object Manipulation},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {617--624},
year = {2010}
}
                

@INPROCEEDINGS {Kraft2010,
author = {F. Kraft and K. Kilgour and R. Saam and S. St\"(u)cker and M. W\"(o)lfel and T. Asfour and A. Waibel},
title = {Towards Social Integration of Humanoid Robots by Conversational Concept Learning},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {352--357},
year = {2010}
}
                

@INPROCEEDINGS {Krueger-ECCV2010,
author = {Norbert Kr\"uger and Nicolas Pugeault and Emre Baseski and Lars Baunegaard With Jensen and Sinan Kalkan and Dirk Kraft and Jeppe BarsÞe Jessen and Florian Pilz and Anders KjÊr-Nielsen and Mila Popovic and Tamim Asfour and Justus Piater and Danica Kragic and Florentin W\"org\"otter},
title = {Early Cognitive Vision as a Frontend for Cognitive Systems},
booktitle = {ECCV 2010 Workshop on Vision for Cognitive Tasks},
pages = {0--0},
year = {2010}
}
                

@INPROCEEDINGS {BeatrizLeon2010,
author = {B. Leon and S. Ulbrich and R. Diankov and G. Puche and M. Przybylski and A. Morales and T. Asfour and S. Moisio and J. Bohg and J. Kuffner and R. Dillmann},
title = {OpenGRASP: A Toolkit for Robot Grasping Simulation},
booktitle = {2nd International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SIMPAR)},
pages = {109--120},
year = {2010}
}
                

@INPROCEEDINGS {Przybylski2010,
author = {M. Przybylski and T. Asfour and R. Dillmann},
title = {Unions of Balls for Shape Approximation in Robot Grasping},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {1592--1599},
year = {2010}
}
                

@INPROCEEDINGS {Vahrenkamp2010,
author = {N. Vahrenkamp and M. Do and T. Asfour and R. Dillmann},
title = {Integrated Grasp and Motion Planning},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {2883--2888},
year = {2010}
}
                

@INPROCEEDINGS {Vahrenkamp2010a,
author = {N. Vahrenkamp and E. Kuhn and T. Asfour and R. Dillmann},
title = {Planning Multi-Robot Grasping Motions},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {593--600},
year = {2010}
}
                

@INPROCEEDINGS {Welke2010,
author = {Kai Welke and Jan Issac and David Schiebener and Tamim Asfour and R\"udiger Dillmann},
title = {Autonomous Acquisition of Visual Multi-View Object Representations for Object Recognition on a Humanoid Robot},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {2012--2019},
year = {2010}
}
                

@INCOLLECTION {Vahrenkamp10c,
author = {N. Vahrenkamp and T. Asfour and R. Dillmann},
publisher = {Springer},
booktitle = {Motion Planning for Humanoid Robots},
title = {Efficient Motion and Grasp Planning for Humanoid Robots},
pages = {129--160},
year = {2010}
}
                

@MISC {Vahrenkamp10d,
title = {Simox: A Simulation and Motion Planning Toolbox for C++},
author = {Nikolaus Vahrenkamp and Tamim Asfour and R\"udiger Dillmann},
publisher = {Karlsruhe Institute of Technology (KIT)},
year = {2010}
}
                

@ARTICLE {Tamosiunaite2009,
author = {M. Tamosiunaite and T. Asfour and F. W\"org\"otter},
title = {Learning to reach by reinforcement learning using a receptive field based function approximation approach with continuous actions},
pages = {249--260},
volume ={100},
number ={},
journal ={Biological Cybernetics},
year = {2009}
}
                

@INPROCEEDINGS {Asfour2009,
author = {T. Asfour and M. Do and K. Welke and A. Bierbaum and P. Azad and N. Vahrenkamp and S. G\"artner and A. Ude and R. Dillmann},
title = {From Sensorimotor Primitives to Manipulation and Imitation Strategies in Humanoid Robots.},
booktitle = {International Symposium on Robotics Research (ISRR)},
pages = {363--378},
year = {2009}
}
                

@INPROCEEDINGS {Azad2009,
author = {P. Azad and T. Asfour and R. Dillmann},
title = {Combining Harris Interest Points and the SIFT Descriptor for Fast Scale-Invariant Object Recognition},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {4275--4280},
year = {2009}
}
                

@INPROCEEDINGS {Azad2009a,
author = {P. Azad and T. Asfour and R. Dillmann},
title = {Accurate Shape-based 6-DoF Pose Estimation of Single-colored Objects},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {2690--2695},
year = {2009}
}
                

@INPROCEEDINGS {Azad2009b,
author = {P. Azad and T. Asfour and R. Dillmann},
title = {Stereo-based vs. Monocular 6-DoF Pose Estimation using Point Features: A Quantitative Comparison},
booktitle = {Autonome Mobile Systeme (AMS)},
pages = {41--48},
year = {2009}
}
                

@INPROCEEDINGS {Azad2009c,
author = {P. Azad and T. Asfour and R. Dillmann},
title = {Stereo-basierte vs. Monokulare 6-DoF Lagebestimmung unter Verwendung von Punktmerkmalen},
booktitle = {3D-NordOst},
pages = {15--24},
year = {2009}
}
                

@INPROCEEDINGS {Bierbaum2009b,
author = {Alexander Bierbaum and Tamim Asfour and R\"udiger Dillmann},
title = {Dynamic Potential Fields for Dexterous Tactile Exploration},
booktitle = {Human Centered Robot Systems},
pages = {23--31},
year = {2009}
}
                

@INPROCEEDINGS {Bierbaum2009a,
author = {Alexander Bierbaum and Matthias Rambow and Tamim Asfour and R\"udiger Dillmann},
title = {Grasp Affordances from Multi-Fingered Tactile Exploration using Dynamic Potential Fields},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {168--174},
year = {2009}
}
                

@INPROCEEDINGS {Bierbaum2009,
author = {Alexander Bierbaum and Julian Schill and Tamim Asfour and R\"udiger Dillmann},
title = {Force Position Control for a Pneumatic Anthropomorphic Hand},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {21--27},
year = {2009}
}
                

@INPROCEEDINGS {Do2009,
author = {M. Do and J. Romero and H. Kjellstr\"om and P. Azad and T. Asfour and D. Kragic and R. Dillmann},
title = {Grasp Recognition and Mapping on Humanoid Robots},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {465--471},
year = {2009}
}
                

@INPROCEEDINGS {Gonzalez-Aguirre2009b,
author = {D. Gonzalez-Aguirre and S. Wieland and T. Asfour and R. Dillmann},
title = {On Environmental Model-Based Visual Perception for Humanoids},
booktitle = {AGACSE, Applied Geometric Algebras in Computer Science and Engineering},
pages = {901--909},
year = {2009}
}
                

@INPROCEEDINGS {Hecht2009,
author = {F. Hecht and P. Azad and T. Asfour and R. Dillmann},
title = {Markerless Human Motion Tracking with a Flexible Model and Appearance Learning},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation (ICRA 2009)},
pages = {3173--3179},
year = {2009}
}
                

@INPROCEEDINGS {Huebner2009,
author = {K. Huebner and K. Welke and M. Przybylski and N. Vahrenkamp and T. Asfour and D. Kragic and R. Dillmann},
title = {Grasping known objects with humanoid robots: A box-based approach},
booktitle = {International Conference on Advanced Robotics (ICAR)},
pages = {1--6},
year = {2009}
}
                

@INPROCEEDINGS {Kraft2009,
author = {D. Kraft and A. Bierbaum and M. Kjaergaard and J. Ratkevicius and A. Kjaer-Nielsen and C. Ryberg and H. Petersen and T. Asfour and R. Dillmann and N. Kruger},
title = {Tactile object exploration using cursor navigation sensors},
booktitle = {EuroHaptics conference, 2009 and Symposium on Haptic Interfaces for Virtual Environment and Teleoperator Systems. World Haptics 2009. Third Joint},
pages = {296--301},
year = {2009}
}
                

@INPROCEEDINGS {Omrcen2009,
author = {D. Omrcen and C. B\"oge and T. Asfour and A. Ude and R. Dillmann},
title = {Autonomous Acquisition of Pushing Actions to Support Object Grasping with a Humanoid Robot},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {277--283},
year = {2009}
}
                

@INPROCEEDINGS {Pastor2009,
author = {Peter Pastor and Heiko Hoffmann and T. Asfour and Stefan Schaal},
title = {Learning and Generalization of Motor Skills by Learning from Demonstration},
booktitle = {Proceedings of the IEEE International Conference on Robotics and Automation},
pages = {763--768},
year = {2009}
}
                

@INPROCEEDINGS {Speidel2009,
author = {S. Speidel and J. Benzko and G. Sudra and P. Azad and B. P. M\"uller-Stich and C. N. Gutt and R. Dillmann},
title = {Automatic Classification of Minimally Invasive Instruments based on Endoscopic Image Sequences},
booktitle = {SPIE Medical Imaging},
pages = {0--0},
year = {2009}
}
                

@INPROCEEDINGS {Ulbrich2009,
author = {S. Ulbrich and V. Ruiz and T. Asfour and C. Torras and R. Dillmann},
title = {Rapid learning of Humanoid Body Schemas with Kinematic Bezier Maps},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {431--438},
year = {2009}
}
                

@INPROCEEDINGS {Vahrenkamp2009,
author = {N. Vahrenkamp and C. B\"oge and K. Welke and T. Asfour and J. Walter and R. Dillmann},
title = {Visual Servoing for Dual Arm Motions on a Humanoid Robot},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {208--214},
year = {2009}
}
                

@INPROCEEDINGS {Vahrenkamp2009a,
author = {N. Vahrenkamp and A. Barski and T. Asfour and R. Dillmann},
title = {Planning and Execution of Grasping Motions on a Humanoid Robot},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {639--645},
year = {2009}
}
                

@INPROCEEDINGS {Vahrenkamp2009b,
author = {N. Vahrenkamp and D. Berenson and T. Asfour and J. Kuffner and R. Dillmann},
title = {Humanoid Motion Planning for Dual-Arm Manipulation and Re-Grasping Tasks},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {2464--2470},
year = {2009}
}
                

@INPROCEEDINGS {Welke2009,
author = {K. Welke and T. Asfour and R. Dillmann},
title = {Active Multi-View Object Search on a Humanoid Head},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {417--423},
year = {2009}
}
                

@INPROCEEDINGS {Welke2009a,
author = {K. Welke and T. Asfour and R. Dillmann},
title = {Bayesian Visual Feature Integration with Saccadic Eye Movements},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {256--262},
year = {2009}
}
                

@INPROCEEDINGS {Wieland2009,
author = {S. Wieland and D. Gonzalez-Aguirre and N. Vahrenkamp and T. Asfour and R. Dillmann},
title = {Combining force and visual feedback for physical interaction tasks in humanoid robots},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {439--446},
year = {2009}
}
                

@INCOLLECTION {Gonzalez-Aguirre2009a,
author = {D. Gonzalez-Aguirre and T. Asfour and E. Bayro-Corrochano and R. Dillmann},
publisher = {Springer Verlag, 2009},
booktitle = {None},
title = {Model-Based Visual Self-Localization Using Gaussian Spheres},
pages = {299--324},
year = {2009}
}
                

@ARTICLE {Asfour2008a,
author = {T. Asfour and P. Azad and F. Gyarfas and R. Dillmann},
title = {Imitation Learning of Dual-Arm Manipulation Tasks in Humanoid Robots},
pages = {183--202},
volume ={5},
number ={2},
journal ={International Journal of Humanoid Robotics (IJHR)},
year = {2008}
}
                

@ARTICLE {Asfour2008b,
author = {T. Asfour and P. Azad and N. Vahrenkamp and K. Regenstein and A. Bierbaum and K. Welke and J. Schr\"oder and R. Dillmann},
title = {Toward Humanoid Manipulation in Human-Centred Environments},
pages = {54--65},
volume ={56},
number ={},
journal ={Robotics and Autonomous Systems},
year = {2008}
}
                

@ARTICLE {Asfour2008d,
author = {T. Asfour and K. Welke and A. Ude and P. Azad and R. Dillmann},
title = {Perceiving Objects and Movements to Generate Actions on a Humanoid Robot},
pages = {41--55},
volume ={8},
number ={},
journal ={Lecture Notes in Electrical Engineering},
year = {2008}
}
                

@ARTICLE {Azad2008c,
author = {P. Azad and T. Gockel and R. Dillmann},
title = {Gesichtskontrolle – Biometrie per Webcam selbstgemacht},
pages = {168--175},
volume ={13},
number ={},
journal ={c’t Magazin f\"ur Computer Technik},
year = {2008}
}
                

@ARTICLE {Dillmann2008,
author = {R. Dillmann and T. Asfour},
title = {Collaborative Research Center on Humanoid Robots (SFB 588)},
pages = {26--28},
volume ={4},
number ={},
journal ={KI - Zeitschrift K\"unstliche Intelligenz},
year = {2008}
}
                

@ARTICLE {dillmann-ijhr:2008,
author = {R. Dillmann and T. Asfour and G. Cheng and A. Ude},
title = {Toward Cognitive Humanoid Robots},
pages = {0--0},
volume ={5},
number ={2},
journal ={International Journal of Humanoid Robotics (IJHR)},
year = {2008}
}
                

@INPROCEEDINGS {Asfour2008c,
author = {T. Asfour and K. Welke and P. Azad and A. Ude and R. Dillmann},
title = {The Karlsruhe Humanoid Head},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {447--453},
year = {2008}
}
                

@INPROCEEDINGS {Azad2008a,
author = {P. Azad and T. Asfour and R. Dillmann},
title = {Robust Real-time Stereo-based Markerless Human Motion Capture},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {700--707},
year = {2008}
}
                

@INPROCEEDINGS {Bierbaum2008,
author = {A. Bierbaum and T. Asfour and R. Dillmann},
title = {IPSA - Inventor Physics Modeling API for Dynamics Simulation in Manipulation},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Workshop on robot simulators},
pages = {0--0},
year = {2008}
}
                

@INPROCEEDINGS {Bierbaum2008a,
author = {A. Bierbaum and I. Gubarev and R. Dillmann},
title = {Robust Shape Recovery for Sparse Contact Location and Normal Data from Haptic Exploration},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {3200--3205},
year = {2008}
}
                

@INPROCEEDINGS {Bierbaum2008b,
author = {A. Bierbaum and M. Rambow and T. Asfour and R. Dillmann},
title = {A Potential Field Approach to Dexterous Tactile Exploration},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {360--366},
year = {2008}
}
                

@INPROCEEDINGS {Do2008,
author = {M. Do and P. Azad and T. Asfour and R. Dillmann},
title = {Imitation of Human Motion on a Humanoid Robot using Nonlinear Optimization},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {545--552},
year = {2008}
}
                

@INPROCEEDINGS {Gaiser2008,
author = {I. Gaiser and S. Schulz and A. Kargov and H. Klosek and A. Bierbaum and C. Pylatiuk and R. Oberle and T. Werner and T. Asfour and G. Bretthauer and R. Dillmann},
title = {A New Anthropomorphic Robotic Hand},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {418--422},
year = {2008}
}
                

@INPROCEEDINGS {Gonzalez-Aguirre2008a,
author = {D. I. Gonzalez-Aguirre and T. Asfour and E. Bayro-Corrochano and R. Dillmann},
title = {Model-Based Visual Self-Localization Using Geometry and Graphs},
booktitle = {International Conference on Pattern Recognition, ICPR 2008, Tampa Florida-USA.},
pages = {1--5},
year = {2008}
}
                

@INPROCEEDINGS {Gonzalez-Aguirre2008b,
author = {D. Gonzalez-Aguirre and S. Wieland and T. Asfour and R. Dillmann},
title = {Improving Model-Based Visual Self-Localization Using Gaussian Spheres},
booktitle = {AGACSE, Applied Geometric Algebras in Computer Science and Engineering},
pages = {1--16},
year = {2008}
}
                

@INPROCEEDINGS {Prats2008,
author = {M. Prats and S. Wieland and T. Asfour and A. P. del Pobil and R. Dillmann},
title = {Compliant Interaction in Household Environments by the Armar-III Humanoid Robot},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {475--480},
year = {2008}
}
                

@INPROCEEDINGS {Ude2008,
author = {A. Ude and T. Asfour},
title = {Control and recognition on a humanoid head with cameras having different field of view},
booktitle = {Proc. 19th IAPR Int. Conf. Pattern Recognition},
pages = {1--4},
year = {2008}
}
                

@INPROCEEDINGS {Vahrenkamp2008,
author = {N. Vahrenkamp and C. Scheurer and T. Asfour and J. Kuffner and R. Dillmann},
title = {Adaptive Motion Planning for Humanoid Robots},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {2127--2132},
year = {2008}
}
                

@INPROCEEDINGS {Vahrenkamp2008aa,
author = {N. Vahrenkamp and S. Wieland and P. Azad and D. Gonzalez-Aguirre and T. Asfour and R. Dillmann},
title = {Visual Servoing for Humanoid Grasping and Manipulation Tasks},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {406--412},
year = {2008}
}
                

@INPROCEEDINGS {Vahrenkamp2008ab,
author = {N. Vahrenkamp and S. Wieland and P. Azad and D. Gonzalez-Aguirre and T. Asfour and R. Dillmann},
title = {Visual Servoing for Humanoid Grasping and Manipulation Tasks},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {406--412},
year = {2008}
}
                

@INPROCEEDINGS {Welke2008,
author = {K. Welke and T. Asfour and R. Dillmann},
title = {Object Separation using Active Methods and Multi-View Representations},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {949--955},
year = {2008}
}
                

@INCOLLECTION {Azad2008b,
author = {P. Azad and T. Gockel and R. Dillmann},
publisher = {},
booktitle = {None},
title = {Computer Vision – Principles and Practice},
pages = {0--0},
year = {2008}
}
                

@MISC {Welke2008a,
title = {Kinematic Calibration for Saccadic Eye Movements},
author = {K. Welke and M. Przybylski and T. Asfour and R. Dillmann},
publisher = {Institute for Anthropomatics, Universit\"at Karlsruhe},
year = {2008}
}
                

@ARTICLE {Dillmann2007,
author = {R. Dillmann and P. Steinhaus and T. Asfour and M. Pardowitz},
title = {Lernende humanoide Roboter in Alltagsumgebungen},
pages = {224--231},
volume ={49},
number ={4},
journal ={it – Information Technology},
year = {2007}
}
                

@INPROCEEDINGS {Azad2007,
author = {P. Azad and T. Asfour and R. Dillmann},
title = {Stereo-based 6D Object Localization for Grasping with Humanoid Robot Systems},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {919--924},
year = {2007}
}
                

@INPROCEEDINGS {Azad2007c,
author = {P. Azad and T. Asfour and R. Dillmann},
title = {Toward an Unified Representation for Imitation of Human Motion on Humanoids},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {2558--2563},
year = {2007}
}
                

@INPROCEEDINGS {Azad2007b,
author = {P. Azad and A. Ude and T. Asfour and R. Dillmann},
title = {Stereo-based Markerless Human Motion Capture for Humanoid Robot Systems},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {3951--3956},
year = {2007}
}
                

@INPROCEEDINGS {Bierbaum2007,
author = {A. Bierbaum and K. Welke and D. Burger and T. Asfour and R. Dillmann},
title = {A Framework for Visually guided Haptic Exploration with Five Finger Hands},
booktitle = {Robotics},
pages = {674--676},
year = {2007}
}
                

@INPROCEEDINGS {Bierbaum2007a,
author = {A. Bierbaum and K. Welke and D. Burger and T. Asfour and R. Dillmann},
title = {Haptic Exploration for 3D Shape Reconstruction using Five-Finger Hands},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {616--621},
year = {2007}
}
                

@INPROCEEDINGS {Michel2007,
author = {P. Michel and C. Scheurer and J. Kuffner and N. Vahrenkamp and R. Dillmann},
title = {Planning for Robust Execution of Humanoid Motions using Future Perceptive Capability},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {3223--3228},
year = {2007}
}
                

@INPROCEEDINGS {Omrcen2007,
author = {D. Omrcen and A. Ude and K. Welke and T. Asfour and R. Dillmann},
title = {Sensorimotor Processes for Learning Object Representations},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {143--150},
year = {2007}
}
                

@INPROCEEDINGS {Regenstein2007,
author = {K. Regenstein and T. Kerscher and C. Birkenhofer and T. Asfour and J. M. Z\"ollner and R. Dillmann},
title = {A modular approach for controlling mobile robots},
booktitle = {Proceedings of CLAWAR2007, 10th International Conference on Climbing and Walking Robots},
pages = {547--554},
year = {2007}
}
                

@INPROCEEDINGS {Regenstein2007a,
author = {K. Regenstein and T. Kerscher and C. Birkenhofer and T. Asfour and J. M. Z\"ollner and R. Dillmann},
title = {Universal Controller Module (UCoM) - component of a modular concept in robotic systems},
booktitle = {Proceedings of 2007 IEEE International Symposium on Industrial Electronics},
pages = {2089--2094},
year = {2007}
}
                

@INPROCEEDINGS {Stilman2007,
author = {M. Stilman and J. Schamburek and J. Kuffner and T. Asfour},
title = {Manipulation Planning Among Movable Obstacles.},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {3327--3332},
year = {2007}
}
                

@INPROCEEDINGS {Ude2007,
author = {A. Ude and M. Riley and B. Nemec and T. Asfour and G. Cheng},
title = {Synthesizing Goal-Directed Actions from a Library of Example Movements},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {115--121},
year = {2007}
}
                

@INPROCEEDINGS {Vahrenkamp2007,
author = {N. Vahrenkamp and T. Asfour and R. Dillmann},
title = {Efficient Motion Planning for Humanoid Robots using Lazy Collision Checking and Enlarged Robot Models},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {3062--3067},
year = {2007}
}
                

@INPROCEEDINGS {Welke2007,
author = {K. Welke and E. Oztop and G. Cheng and R. Dillmann},
title = {Exploiting Similarities for robot perception},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {3237--3242},
year = {2007}
}
                

@INCOLLECTION {Azad2007a,
author = {P. Azad and T. Gockel and R. Dillmann},
publisher = {},
booktitle = {None},
title = {Computer Vision – Das Praxisbuch},
pages = {0--0},
year = {2007}
}
                

@MISC {Kjaergaard2007,
title = {Using Tactile Sensors for Multisensorial Scene Exploration},
author = {M. Kjaergaard and A. Bierbaum and D. Kraft and S. Kalkan and N. Kr\"uger and T. Asfour and R. Dillmann},
publisher = {Robotics Group, The Maersk Mc-Kinney Moller Institute, University of Souther Denmark},
year = {2007}
}
                

@INPROCEEDINGS {Asfour2006,
author = {T. Asfour and F. Gyarfas and P. Azad and R. Dillmann},
title = {Imitation Learning of Dual-Arm Manipulation Tasks in Humanoid Robots},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {40--47},
year = {2006}
}
                

@INPROCEEDINGS {Asfour2006c,
author = {T. Asfour and K. Regenstein and P. Azad and J. Schr\"oder and R. Dillmann},
title = {ARMAR-III: A Humanoid Platform for Perception-Action Integration},
booktitle = {2nd International Workshop on Human-Centered Robotic Systems (HCRS)},
pages = {51--56},
year = {2006}
}
                

@INPROCEEDINGS {Asfour2006b,
author = {T. Asfour and K. Regenstein and P. Azad and J. Schr\"oder and N. Vahrenkamp and R. Dillmann},
title = {ARMAR-III: An Integrated Humanoid Platform for Sensory-Motor Control},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {169--175},
year = {2006}
}
                

@INPROCEEDINGS {Azad2006,
author = {P. Azad and T. Asfour and R. Dillmann},
title = {Combining Appearance-based and Model-based Methods for Real-Time Object Recognition and 6D Localization},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {5339--5344},
year = {2006}
}
                

@INPROCEEDINGS {Azad2006a,
author = {P. Azad and A. Ude and T. Asfour and G. Cheng and R. Dillmann},
title = {Image-based Markerless 3D Human Motion Capture using Multiple Cues},
booktitle = {International Workshop on Vision Based Human-Robot Interaction},
pages = {0--0},
year = {2006}
}
                

@INPROCEEDINGS {Bertram2006,
author = {D. Bertram and J. J. Kuffner and R. Dillmann and T. Asfour},
title = {An Integrated Approach to Inverse Kinematics and Path Planning for Redundant Manipulators},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {1874--1879},
year = {2006}
}
                

@INPROCEEDINGS {Gorges2006,
author = {N. Gorges and A. Bierbaum and H. W\"orn and R. Dillmann},
title = {Towards a comprehensive grasping system for Armar-III},
booktitle = {Human-Centered Robotic Systems (HCRS’06)},
pages = {57--62},
year = {2006}
}
                

@INPROCEEDINGS {Lehmann2006,
author = {A. Lehmann and R. Mikut and T. Asfour},
title = {Petri Nets for Task Supervision in Humanoid Robots},
booktitle = {Proc. of 37th International Symposium of Robotics (ISR)},
pages = {0--0},
year = {2006}
}
                

@INPROCEEDINGS {Morales2006,
author = {A. Morales and T. Asfour and P. Azad and S. Knoop and R. Dillmann},
title = {Integrated Grasp Planning and Visual Object Localization For a Humanoid Robot with Five-Fingered Hands},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {5663--5668},
year = {2006}
}
                

@INPROCEEDINGS {Morales2006a,
author = {A. Morales and P. Azad and T. Asfour and D. Kraft and S. Knoop and R. Dillmann and A. Kargov and C. Pylatiuk and S. Schulz},
title = {An Anthropomorphic Grasping Approach for an Assistant Humanoid Robot},
booktitle = {International Symposium on Robotics (ISR)},
pages = {0--0},
year = {2006}
}
                

@INPROCEEDINGS {Regenstein2006,
author = {K. Regenstein and T. Asfour and R. Dillmann},
title = {Designing a computer architecture for the humanoid robot ARMAR-III},
booktitle = {Proceedings of HLR 2006, French-German Workshop on Humanoid and Legged Robots},
pages = {0--0},
year = {2006}
}
                

@INPROCEEDINGS {Steinbach2006,
author = {Klaus Steinbach and J. Kuffner and T. Asfour and R. Dillmann},
title = {Collision and self-collision detection for humanoids based on sphere tree hierarchies},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {560--566},
year = {2006}
}
                

@INPROCEEDINGS {Welke2006,
author = {K. Welke and P. Azad and R. Dillmann},
title = {Fast and Robust Feature-based Recognition of Multiple Objects},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {264--269},
year = {2006}
}
                

@INPROCEEDINGS {Welke2006a,
author = {K. Welke and E. Oztop and A. Ude and R. Dillmann and G. Cheng},
title = {Learning feature representations for an object recognition system},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {290--295},
year = {2006}
}
                

@INCOLLECTION {Asfour2006a,
author = {T. Asfour and D. N. Ly and K. Regenstein and R. Dillmann},
publisher = {Springer Verlag},
booktitle = {Experimental Robotics IX},
title = {Coordinated Task Execution for Humanoid Robots},
pages = {259--267},
year = {2006}
}
                

@INPROCEEDINGS {Burghart2005,
author = {C. Burghart and R. Mikut and R. Stiefelhagen and T. Asfour and H. Holzapfel and P. Steinhaus and R. Dillmann},
title = {A Cognitive Architecture for a Humanoid Robot: A First Approach},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {357--362},
year = {2005}
}
                

@INPROCEEDINGS {Gockel2005,
author = {T. Gockel and J. Ahlmann and R. Dillmann and P. Azad},
title = {3D Vision Sensing for Grasp Planning: A New, Robust and Affordable Structured Light Approach},
booktitle = {IEEE International Conference on Robotics and Automation (ICRA)},
pages = {2529--2534},
year = {2005}
}
                

@INPROCEEDINGS {Morales2005,
author = {A. Morales and T. Asfour and D. Osswald and S. Schulz and R. Dillmann},
title = {Towards an Anthropomorphic Manipulator for an Assistant Humanoid Robot},
booktitle = {Robotics},
pages = {0--0},
year = {2005}
}
                

@INCOLLECTION {Bierbaum2005,
author = {A. Bierbaum and A. Piaseczki and J. Schr\"oder and P. Azad and T. Gockel and R. Dillmann},
publisher = {},
booktitle = {None},
title = {Embedded Robotics – Das Praxisbuch},
pages = {0--0},
year = {2005}
}
                

@INPROCEEDINGS {Asfour2004,
author = {T. Asfour and D. N. Ly and K. Regenstein and R. Dillmann},
title = {Coordinated Task Execution for Humanoid Robots},
booktitle = {The International Symposium on Experimental Robots},
pages = {259--267},
year = {2004}
}
                

@INPROCEEDINGS {Azad2004,
author = {P. Azad and T. Gockel and R. Dillmann},
title = {3D Shape Acquisition using a Combined SSD and Least Squares Correlation Approach},
booktitle = {International Conference on Coding and Computing (ITCC)},
pages = {367--371},
year = {2004}
}
                

@INPROCEEDINGS {Azad2004a,
author = {P. Azad and A. Ude and R. Dillmann and G. Cheng},
title = {A Full Body Human Motion Capture System using Particle Filtering and On-The-Fly Edge Detection},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {941--959},
year = {2004}
}
                

@INPROCEEDINGS {Gockel2004,
author = {T. Gockel and P. Azad and R. Dillmann},
title = {Calibration Issues for Projector-based 3D-Scanning},
booktitle = {International Conference on Shape Modeling and Applications (SMI)},
pages = {367--370},
year = {2004}
}
                

@INPROCEEDINGS {Gockel2004a,
author = {T. Gockel and P. Azad and R. Dillmann},
title = {3D-Modellerfassung mittels eines innovativen One-Shot-Musterprojektionsverfahrens},
booktitle = {3D-NordOst-Workshop},
pages = {0--0},
year = {2004}
}
                

@INPROCEEDINGS {Ly2004,
author = {D. N. Ly and K. Regenstein and T. Asfour and R. Dillmann},
title = {A Modular and Distributed Embedded Control Architecture for Humanoid Robots},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {2775--2780},
year = {2004}
}
                

@INPROCEEDINGS {Zollner2004,
author = {R. Z\"ollner and T. Asfour and R. Dillmann},
title = {Programming by Demonstration: Dual-Arm Manipulation Tasks for Humanoid Robots},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {479--484},
year = {2004}
}
                

@ARTICLE {Azad2003b,
author = {P. Azad and T. Gockel},
title = {Flash-Board als Schachcomputer – Deep Evelyn – der Gewinner im Flash-Board-Wettbewerb},
pages = {0--0},
volume ={422},
number ={},
journal ={Elektor Elektronik & Computertechnik},
year = {2003}
}
                

@INPROCEEDINGS {Asfour2003,
author = {T. Asfour and R. Dillmann},
title = {Human-like Motion of a Humanoid Robot Arm Based on Closed-Form Solution of the Inverse Kinematics Problem.},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {407--1412},
year = {2003}
}
                

@INPROCEEDINGS {Gockel2003,
author = {T. Gockel and O. Taminé and P. Azad and R. Dillmann},
title = {EduKaBot – Aufbau eines edukativen Roboter-Baukastensystems},
booktitle = {Autonome Mobile Systeme (AMS)},
pages = {311--321},
year = {2003}
}
                

@INPROCEEDINGS {Regenstein2003,
author = {K. Regenstein and R. Dillmann},
title = {Design of an open hardware architecture for the humanoid robot ARMAR},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {0--0},
year = {2003}
}
                

@INPROCEEDINGS {Asfour2001,
author = {T. Asfour and A. Ude and K. Berns and R. Dillmann},
title = {Control of ARMAR for the Realization of Anthropomorphic Motion Patterns.},
booktitle = {IEEE/RAS International Conference on Humanoid Robots (Humanoids)},
pages = {22--24},
year = {2001}
}
                

@INPROCEEDINGS {Asfour2000,
author = {T. Asfour and K. Berns and R. Dillmann},
title = {The Humanoid Robot ARMAR: Design and control},
booktitle = {The 1st IEEE-RAS International Conference on Humanoid Robots},
pages = {7--8},
year = {2000}
}
                

@INPROCEEDINGS {Dillmann2000,
author = {R. Dillmann and T. Asfour and K. Berns},
title = {Design and Control of a Humanoid Typ 2-Arm Robot System},
booktitle = {World Automation Congress (WAC 2000)},
pages = {0--0},
year = {2000}
}
                

@INPROCEEDINGS {Fukaya2000,
author = {N. Fukaya and S. Toyama and T. Asfour and R. Dillmann},
title = {Design of the TUAT/Karlsruhe Humanoid Hand.},
booktitle = {IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)},
pages = {1754--1759},
year = {2000}
}
                

@INPROCEEDINGS {Fukaya2000a,
author = {N. Fukaya and S. Toyama and T. Asfour and R. Dillmann},
title = {Design of a Humanoid Hand for Human Friendly Robotics Applications.},
booktitle = {International Conference on Machine Automation (ICMA2000)},
pages = {4533--4540},
year = {2000}
}
                

@INPROCEEDINGS {Asfour1999,
author = {T. Asfour and K. Berns and R. Dillmann},
title = {The Humanoid Robot ARMAR},
booktitle = {The Second International Symposium in HUmanoid RObots (HURO’99)},
pages = {174--180},
year = {1999}
}
                

@INPROCEEDINGS {Asfour1999a,
author = {T. Asfour and K. Berns and J. Schelling and R. Dillmann},
title = {Programming of Manipulation Tasks of the Humanoid Robot ARMAR},
booktitle = {The Ninth International Conference on Advanced Robotics (ICAR’99)},
pages = {107--112},
year = {1999}
}