Jörg Stückler

Diplom-Informatiker (Diploma in Computer Science, equiv. M.Sc.)
Member of research staff and PhD student in the Autonomous Intelligent Systems Group

Address: 

   Jörg Stückler
   Rheinische Friedrich-Wilhelms-Universität Bonn
   Institut für Informatik VI
   Friedrich-Ebert-Allee 144
   53113 Bonn 

Tel:  +49 (0) 228 73-54160
Fax: +49 (0) 228 73-4425 
Email: stueckler _at_ ais.uni-bonn.de
Office: I.09

I am member of the research staff and PhD student in the Autonomous Intelligent Systems Group at University of Bonn, Germany. My research interests include artificial cognition combining vision and 3D sensing devices such as 3D lasers and Time-of-Flight cameras, mobile manipulation, humanoid robots, applications of machine learning to robotics (e.g., imitation and reinforcement learning), and probabilistic robotics.

I received my Diploma from Albert-Ludwigs-Universität Freiburg in September 2007. My Diploma thesis was about visual SLAM in indoor environments with a single camera. Its German title is "Visuelle Orientierung in Innenraeumen mit einer Kamera".

Publications

Journals and Book Chapters

• J. Stückler and S. Behnke.
  Dynamaid, an Anthropomorphic Robot for Research on Domestic Service Applications.
  In AUTOMATIKA Journal, Special Issue on ECMR'09, 2011.
  
  
• S. Behnke and J. Stückler.
  Hierarchical Reactive Control for Humanoid Soccer Robots.
  International Journal of Humanoid Robots (IJHR), vol. 5, no. 3, pp. 375-396, September 2008.
  
  
• S. Behnke, J. Stückler, H. Strasdat, and M. Schreiber.
  Hierarchical Reactive Control for Soccer Playing Humanoid Robots.
  In M. Hackel (editor): Humanoid Robots, Human-like Machines. pp. 625-642, I-Tech, 2007.
  
  
• A. Kleiner, M. Brenner, T. Bräuer, C. Dornhege, M. Göbelbecker, M. Luber, J. Prediger, J. Stückler, and B. Nebel.
  Successful Search and Rescue in Simulated Disaster Areas.
  Lecture Notes in Computer Science (LNCS), vol. 4020/2006, 2005.
  
  

Conferences

2011

• B. Oehler, J. Stückler, J. Welle, D. Schulz, and S. Behnke.
  Efficient Multi-Resolution Plane Segmentation of 3D Point Clouds
  In Proc. of the International Conference on Intelligent Robotics and Applications (ICIRA), Aachen, Germany, December 2011.
  
  
• J. Stückler and S. Behnke.
  Following Human Guidance to Cooperatively Carry a Large Object
  In Proc. of the 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Bled, Slovenia, October 2011.
  
  
• J. Stückler, R. Steffens, D. Holz, and S. Behnke.
  Real-Time 3D Perception and Efficient Grasp Planning for Everyday Manipulation Tasks
  In Proc. of the 5th European Conference on Mobile Robots (ECMR), Örebro, Sweden, September 2011.
  
  
• J. Stückler and S. Behnke.
  Compliant Task-Space Control with Back-Drivable Servo Actuators
  In Proc. of the International RoboCup Symposium 2011, Istanbul, Turkey, July 2011.
  Winner of Best Paper Award.
  
  
• D. Droeschel, J. Stückler, D. Holz, and S. Behnke.
  Towards Joint Attention for a Domestic Service Robot -- Person Awareness and Gesture Recognition using Time-of-Flight Cameras
  In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 2011.
  Finalist of KUKA Service Robotics Best Paper Award.
  
  
• J. Stückler and S. Behnke.
  Interest Point Detection in Depth Images through Scale-Space Surface Analysis
  In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 2011.
  
  
• D. Droeschel, J. Stückler, and S. Behnke.
  Learning to Interpret Pointing Gestures with a Time-Of-Flight Camera
  In Proc. of the 6th ACM/IEEE International Conference on Human-Robot Interaction (HRI), Lausanne, Switzerland, March 2011.
  
  

2010

• K. Gräve, J. Stückler, and S. Behnke.
  Improving Imitated Grasping Motions through Interactive Expected Deviation Learning
  In Proc. of the IEEE International Conference on Humanoid Robots (Humanoids), Nashville, USA, December 2010.
  
  
• J. Stückler and S. Behnke.
  Combining Depth and Color Cues for Scale- and Viewpoint-Invariant Object Segmentation and Recognition using Random Forests.
  In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Taipei, October 2010.
  
  
• J. Stückler and S. Behnke.
  Improving People Awareness of Service Robots by Semantic Scene Knowledge
  In Proc. of the Int. RoboCup Symposium, Singapore, June 2010.
  
  
• D. Holz, R. Schnabel, D. Droeschel, J. Stückler, and S. Behnke.
  Towards Semantic Scene Analysis with 3D Time-of-Flight Cameras
  In Proc. of the Int. RoboCup Symposium, Singapore, June 2010.
  
  
• H. Schulz, W. Liu, J. Stückler, and S. Behnke.
  Utilizing the Structure of Field Lines for Efficient Soccer Robot Localization
  In Proc. of the Int. RoboCup Symposium, Singapore, June 2010.
  
  
• K. Gräve, J. Stückler, and S. Behnke.
  Learning Motion Skills from Expert Demonstrations and Own Experience using Gaussian Process Regression
  In Proc. of ISR/ROBOTIK 2010, Munich, Germany, June 2010.
  
  
• M. Nieuwenhuisen, J. Stückler, and S. Behnke.
  Intuitive Multimodal Interaction for Domestic Service Robots.
  In Proc. of ISR/ROBOTIK 2010, Munich, Germany, June 2010.
  
  
• M. Nieuwenhuisen, J. Stückler, and S. Behnke.
  Improving Indoor Navigation of Autonomous Robots by an Explicit Representation of Doors.
  In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, May 2010.
  
  
• D. Droeschel, D. Holz, J. Stückler, and S. Behnke.
  Using Time-of-Flight Cameras with Active Gaze Control for 3D Collision Avoidance.
  In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, May 2010.
  
  

2009

• J. Stückler and S. Behnke.
  Integrating Indoor Mobility, Object Manipulation, and Intuitive Interaction for Domestic Service Tasks.
  In Proc. of the IEEE Conference on Humanoid Robots (Humanoids), Paris, France, December 2009.
  
  
• J. Stückler, M. Schreiber, and S. Behnke.
  Dynamaid, an Anthropomorphic Robot for Research on Domestic Service Applications.
  In Proc. of the 4th European Conference on Mobile Robots (ECMR), September 2009.
  
  

2006-2008

• J. Stückler and S. Behnke.
  Orthogonal Wall Correction for Visual Motion Estimation.
  In Proc. of the IEEE International Conference on Robotics and Automation (ICRA), May 2008.
  
  
• S. Behnke, J. Stückler, M. Schreiber, H. Schulz, M. Boehnert, and K. Meier.
  Hierarchical Reactive Control for a Team of Humanoid Soccer Robots.
  In Proc. of the IEEE International Conference on Humanoid Robots (Humanoids), Pittsburgh, USA, December 2007.
  
  
• S. Behnke, M. Schreiber, J. Stückler, R. Renner, and H. Strasdat.
  See, walk, and kick: Humanoid robots start to play soccer.
  In Proc. of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), Genua, Italy, December 2006.
  
  

Workshops and Symposia

• M. Nieuwenhuisen, J. Stückler, and S. Behnke.
  Intuitive Multimodal Interaction for Service Robots.
  Late-Breaking Report. In Proc. of the 5th ACM/IEEE International Conference on Human Robot Interaction (HRI2010), Osaka, March 2010.
  
  
• H. Schulz, W. Liu, J. Stückler, and S. Behnke.
  Line Structure-based Localization for Soccer Robots.
  In Proc. of 4th Workshop on Humanoid Soccer Robots at IEEE Humanoids, Paris, December 2009.
  
  
• J. Stückler, K. Gräve, J. Kläss, S. Muszynski, M. Schreiber, O. Tischler, R. Waldukat, and S. Behnke.
  Dynamaid: Towards a Personal Robot that Helps with Household Chores.
  RSS Workshop on Mobile Manipulation in Human Environments, Seattle, June 2009.
  
  
• J. Stückler, H. Schulz, and S. Behnke.
  In-lane Localization in Road Networks using Curbs Detected in Omnidirectional Height Images.
  In Proc. of ROBOTIK 2008, München, June 2008.
  
  
• J. Stückler and S. Behnke.
  Soccer Behaviors for Humanoid Robots.
  Workshop on Humanoid Soccer Robots of the IEEE-RAS International Conference on Humanoid Robots (Humanoids 2006), Genoa, Italy, pp. 62-70, December 2006.
  
  
• J. Stückler and S. Behnke.
  Learning Dynamic Biped Walking Control.
  French-German Workshop on Humanoid and Legged Robots, Karlsruhe, September 2006.
  
  
• J. Stückler and S. Behnke.
  On-line Optimization of Dynamic Walking Using Stochastic Policy Gradient Ascent.
  Proc. of Dynamic Walking 2006, p. 29, Ann Arbor, MI, May 2006.
  
  

Team description papers

• J. Stückler, D. Droeschel, K. Gräve, D. Holz, M. Schreiber, and S. Behnke.
  NimbRo @Home TDP.
  RoboCup@Home League, Turkey, Istanbul, 2011.
  
  
• J. Stückler, D. Droeschel, K. Gräve, D. Holz, M. Schreiber, and S. Behnke.
  NimbRo @Home TDP.
  RoboCup@Home League, Singapore 2010.
  
  
• S. Behnke, J. Stückler, and M. Schreiber.
  NimbRo @Home TDP.
  RoboCup@Home League, Austria, Graz 2009.
  
  
• S. Behnke, J. Stückler, and M. Schreiber.
  NimbRo KidSize TDP.
  RoboCup Humanoid League, Austria, Graz, 2009.
  
  
• S. Behnke, J. Stückler, and M. Schreiber.
  NimbRo TeenSize TDP.
  RoboCup Humanoid League, Austria, Graz, 2009.
  
  
• S. Behnke, M. Schreiber, J. Stückler, H. Schulz, M. Böhnert, and K. Meier.
  NimbRo KidSize TDP.
  RoboCup Humanoid League, China, Suzhou, 2008.
  
  
• S. Behnke, M. Schreiber, J. Stückler, H. Schulz, M. Böhnert, and K. Meier.
  NimbRo TeenSize TDP.
  RoboCup Humanoid League, China, Suzhou, 2008.
  
  
• S. Behnke, M. Schreiber, J. Stückler, H. Strasdat, and K. Meier.
  NimbRo KidSize TDP.
  RoboCup Humanoid League, USA, Atlanta, 2007.
  
  
• S. Behnke, M. Schreiber, J. Stückler, H. Strasdat, and K. Meier.
  NimbRo TeenSize TDP.
  RoboCup Humanoid League, USA, Atlanta, 2007.
  
  
• S. Behnke, M. Schreiber, J. Stückler, H. Strasdat, and M. Bennewitz.
  NimbRo KidSize TDP.
  RoboCup Humanoid League, Germany, Bremen, 2006.
  
  
• S. Behnke, M. Schreiber, J. Stückler, H. Strasdat, and M. Bennewitz.
  NimbRo TeenSize TDP.
  RoboCup Humanoid League, Germany, Bremen, 2006.
  
  
• A. Kleiner, B. Steder, C. Dornhege, D. Höfler, D. Meyer-Delius, J. Prediger, J. Stückler, K. Glogowski, M. Thurner, M. Luber, M. Schnell, R. Kümmerle, T. Burk, T. Bräuer, and B. Nebel.
  RescueRobots Freiburg TDP.
  RoboCup Rescue Robot League, Japan, Osaka, 2005.
  
  
• A. Kleiner, M. Brenner, T. Bräuer, C. Dornhege, M. Göbelbecker, M. Luber, J. Prediger, and J. Stückler.
  ResQ Freiburg TDP.
  RoboCup Rescue Simulation League, Portugal, Lissabon, 2004.
  
  

During my Diploma and PhD studies I've gained experience in several robotics and robotics-related projects like

	NimbRo@home RoboCup @home League (since October 2008), Team leader domestic service robots with anthropomorphic body scheme
	NimbRo RoboCup Humanoid League (2004-2009) autonomous humanoid soccer robots in two size classes (up to 60cm and above 100cm)
	Team Berlin DARPA Urban Challenge (October/November 2007) autonomously driving car in an urban scenario
	RescueRobots Freiburg RoboCup Rescue Robot League (2004-2005) search and rescue with teleoperated and autonomous robots
	ResQ Freiburg RoboCup Rescue Simulation League (2004) control of a team of heterogeneous agents for search and rescue in simulated disaster areas

With ResQ Freiburg, RescueRobots Freiburg, and NimbRo I participated at several scientific challenges and RoboCup competitions, e.g.,

2011

• 1st place in RoboCup@home League at RoboCup World Championship, Istanbul, Turkey
• 1st place in RoboCup@home League at GermanOpen

2010

• 2nd place in RoboCup@home League at RoboCup World Championship, Singapore
• Mobile Manipulation Challenge at ICRA 2010, Anchorage, Alaska
• 2nd place in RoboCup@home League at GermanOpen

2009

• Innovation Award in RoboCup@home League at RoboCup World Championship, Graz, Austria
• 3rd place in RoboCup@home League at RoboCup World Championship, Graz, Austria
• 1st place in dribble-and-kick competition in TeenSize Humanoid League at RoboCup World Championship, Graz, Austria
• 2nd place in RoboCup@home League at GermanOpen
• 1st place in 3 vs. 3 soccer games in KidSize Humanoid League at GermanOpen

2008

• 1st place in 3 vs. 3 soccer games in KidSize Humanoid League at RoboCup World Championship, Suzhou, China
• 3rd place in dribble-and-kick competition in TeenSize Humanoid League at RoboCup World Championship, Suzhou, China

2007

• 1st place in 2 vs. 2 soccer games in KidSize Humanoid League at RoboCup World Championship, Atlanta, USA
• 1st place in penalty competition in TeenSize Humanoid League at RoboCup World Championship, Atlanta, USA

2006

• 2nd place in 2 vs. 2 soccer games in KidSize Humanoid League at RoboCup World Championship, Bremen, Germany
• 2nd place in penalty competition in TeenSize Humanoid League at RoboCup World Championship, Bremen, Germany

2005

• 2nd place in 2 vs. 2 soccer games in KidSize Humanoid League at RoboCup World Championship
• 1st place in penalty competition in TeenSize Humanoid League at RoboCup World Championship
• 2nd place in Rescue Robots League at RoboCup GermanOpen

2004

• 1st place in Rescue Simulation League at RoboCup World Championship