Universität Bonn: Autonomous Intelligent Systems Institute for Computer Science VI: Autonomous Intelligent Systems
Philipp Allgeuer

Philipp Allgeuer

Bachelor of Engineering (Mechatronic) with first-class honours
Bachelor of Mathematical and Computer Sciences
Member of research staff in the Autonomous Intelligent Systems Group

Address:

  Philipp Allgeuer
  Rheinische Friedrich-Wilhelms-Universität Bonn
  Institut für Informatik VI
  Friedrich-Ebert-Allee 144
  53113 Bonn

Tel:  +49 (0) 228 73-54158
Fax: +49 (0) 228 73-4425

Email: pallgeuer _at_ ais.uni-bonn.de

Office: I.08

Projects

igus Humanoid Open Platform and NimbRo-OP: http://www.nimbro.net/OP
Humanoid soccer robot research: http://www.ais.uni-bonn.de/nimbro/Humanoid


Fused Angles

Fused angles, like quaternions and rotation matrices, are a way of representing 3D rotations. They split a rotation up into three main rotation components, fused yaw, fused pitch and fused roll, and give insight into how rotated a body is in each of the three major planes. Fused angles were developed in the context of balance, and far surpass Euler angles for this purpose, but have since found numerous other applications.

Introduction to Fused Angles: The Fused Angles Reference Manual

All of the gait, kicking, fall protection and attitude estimation modules in the official igus Humanoid Open Platform software rely on the concept of fused angles.


RoboCup Competition

RoboCup 2016 in Leipzig (Germany)


TeenSize Winners Video 2016
TeenSize Finals Video 2016
Qualification Video 2016

RoboCup 2015 in Hefei (China)

Qualification Video 2015

RoboCup 2014 in João Pessoa (Brazil)

TeenSize Finals Video 2014
Qualification Video 2014

RoboCup 2013 in Eindhoven (Netherlands)

TeenSize Winners Video 2013
TeenSize Finals Video 2013
Qualification Video 2013


Software Releases

igus Humanoid Open Platform ROS Software: A ROS-based software framework for the igus Humanoid Open Platform.
Authors: Team NimbRo
Paper: Child-sized 3D Printed igus Humanoid Open Platform [PDF] [BIB]
URL: https://github.com/AIS-Bonn/humanoid_op_ros [URL]

Rotations Conversion Library: A library for working with 3D rotations in C++, in particular supporting fused angles and tilt angles.
Authors: Philipp Allgeuer
Paper: Fused Angles: A Representation of Body Orientation for Balance [PDF] [BIB]
URL: https://github.com/AIS-Bonn/rot_conv_lib [URL]

Matlab/Octave Rotations Library: A library for working with 3D rotations in Matlab/Octave, in particular supporting fused angles and tilt angles.
Authors: Philipp Allgeuer
Paper: Fused Angles: A Representation of Body Orientation for Balance [PDF] [BIB]
URL: https://github.com/AIS-Bonn/matlab_octave_rotations_lib [URL]

Attitude Estimator: A C++ implementation of a 3D IMU fusion algorithm based on nonlinear passive complementary filtering.
Authors: Philipp Allgeuer
Paper: Robust Sensor Fusion for Robot Attitude Estimation [PDF] [BIB]
URL: https://github.com/AIS-Bonn/attitude_estimator [URL]

State Controller Library: A C++ framework that implements generalised finite state machines and allows planning and enqueuing of future states.
Authors: Philipp Allgeuer
Paper: Hierarchical and State-based Architectures for Robot Behavior Planning and Control [PDF] [BIB]
URL: https://github.com/AIS-Bonn/state_controller_library [URL]

Behaviour Control Framework: A C++ framework that uses behaviours coordinated by inhibition trees for behaviour control.
Authors: Philipp Allgeuer
Paper: Hierarchical and State-based Architectures for Robot Behavior Planning and Control [PDF] [BIB]
URL: https://github.com/AIS-Bonn/behaviour_control_framework [URL]

NimbRo-OP ROS Software: A ROS software framework for the NimbRo-OP robot, targeted at robot soccer.
Authors: Team NimbRo
Paper: A ROS-based Software Framework for the NimbRo-OP Humanoid Open Platform [PDF] [BIB]
URL: https://github.com/NimbRo/nimbro-op-ros [URL]


Hardware Releases

igus Humanoid Open Platform Hardware: CAD files for the igus Humanoid Open Platform hardware.
Authors: igus GmbH (with input of team NimbRo)
Paper: Child-sized 3D Printed igus Humanoid Open Platform [PDF] [BIB]
URL: https://github.com/igusGmbH/HumanoidOpenPlatform [URL]

NimbRo-OP Hardware: CAD files for the NimbRo-OP hardware.
Authors: Team NimbRo
Paper: Humanoid TeenSize Open Platform NimbRo-OP [PDF] [BIB]
URL: https://github.com/NimbRo/nimbro-op [URL]


Publications

2017

Philipp Allgeuer, Grzegorz Ficht, Hafez Farazi, Michael Schreiber and Sven Behnke:
First International HARTING Open Source Prize Winner: The igus Humanoid Open Platform  [PDF]  [BIB]
RoboCup 2016: Robot World Cup XX, Lecture Notes in Computer Science 9776, Springer, 2017.

Hafez Farazi, Philipp Allgeuer, Grzegorz Ficht, André Brandenburger, Dmytro Pavlichenko, Michael Schreiber and Sven Behnke:
RoboCup 2016 Humanoid TeenSize Winner NimbRo: Robust Visual Perception and Soccer Behaviors  [PDF]  [BIB]
RoboCup 2016: Robot World Cup XX, Lecture Notes in Computer Science 9776, Springer, 2017.

2016

Philipp Allgeuer and Sven Behnke:
Omnidirectional Bipedal Walking with Direct Fused Angle Feedback Mechanisms  [PDF]  [BIB]  [PPT]  [VIDEO]
In proceedings of the 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Cancún, Mexico, 2016.

Philipp Allgeuer, Hafez Farazi, Grzegorz Ficht, Michael Schreiber and Sven Behnke:
The igus Humanoid Open Platform: A Child-sized 3D Printed Open-Source Robot for Research  [PDF]  [BIB]
German Journal on Artificial Intelligence (KI), volume 30, issue 3, 2016.

Hafez Farazi, Philipp Allgeuer, Grzegorz Ficht and Sven Behnke:
NimbRo TeenSize Team Description 2016  [PDF]  [BIB]  [VIDEO]
University of Bonn, Technical report, 2016.

2015

Philipp Allgeuer, Hafez Farazi, Michael Schreiber and Sven Behnke:
Child-sized 3D Printed igus Humanoid Open Platform  [PDF]  [BIB]  [PPT]  [CODE]  [CAD]  [VIDEO]
In proceedings of the 15th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Seoul, Korea, 2015.

Philipp Allgeuer and Sven Behnke:
Fused Angles: A Representation of Body Orientation for Balance  [PDF]  [BIB]  [PPT]  [MAT-CODE]  [CPP-CODE]
In proceedings of International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015.

Hafez Farazi, Philipp Allgeuer and Sven Behnke:
A Monocular Vision System for Playing Soccer in Low Color Information Environments  [PDF]  [BIB]  [VIDEO]
In proceedings of the 10th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Seoul, Korea, 2015.

Philipp Allgeuer, Marcell Missura and Sven Behnke:
NimbRo TeenSize Team Description 2015  [PDF]  [BIB]  [VIDEO]
University of Bonn, Technical report, 2015.

2014

Philipp Allgeuer and Sven Behnke:
Robust Sensor Fusion for Robot Attitude Estimation  [PDF]  [BIB]  [PPT]  [CODE]
In proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain, 2014.

Philipp Allgeuer and Sven Behnke:
Fused Angles for Body Orientation Representation  [PDF]  [BIB]  [PPT]  [MAT-CODE]  [CPP-CODE]
In proceedings of the 9th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain, 2014.

Marcell Missura, Cedrick Münstermann, Philipp Allgeuer, Max Schwarz, Julio Pastrana, Sebastian Schueller, Michael Schreiber and Sven Behnke:
Learning to Improve Capture Steps for Disturbance Rejection in Humanoid Soccer  [PDF]  [BIB]
RoboCup 2013: Robot World Cup XVII, Lecture Notes in Computer Science 8371, pp. 56-67, Springer, 2014.

Marcell Missura, Philipp Allgeuer, Michael Schreiber, Cedrick Münstermann, Max Schwarz, Sebastian Schueller and Sven Behnke:
NimbRo TeenSize 2014 Team Description  [PDF]  [BIB]  [VIDEO]
University of Bonn, Technical report, 2014.

2013

Philipp Allgeuer and Sven Behnke:
Hierarchical and State-based Architectures for Robot Behavior Planning and Control  [PDF]  [BIB]  [PPT]  [CODE-BCF]  [CODE-SCL]
In proceedings of the 8th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Atlanta, USA, 2013.

Philipp Allgeuer, Max Schwarz, Julio Pastrana, Sebastian Schueller, Marcell Missura and Sven Behnke:
A ROS-based Software Framework for the NimbRo-OP Humanoid Open Platform  [PDF]  [BIB]  [PPT]  [CODE]
In proceedings of the 8th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Atlanta, USA, 2013.

Max Schwarz, Julio Pastrana, Philipp Allgeuer, Michael Schreiber, Sebastian Schueller, Marcell Missura and Sven Behnke:
Humanoid TeenSize Open Platform NimbRo-OP  [PDF]  [BIB]  [VIDEO]
In proceedings of the 17th RoboCup International Symposium, Eindhoven, Netherlands, 2013.

Universität Bonn, Institute for Computer Science, Departments: I, II, III, IV, V, VI