Grzegorz Ficht, Luis Denninger, and Sven Behnke:
AGILOped: Agile Open-Source Humanoid Robot for Research
Accepted for 10th IEEE International Conference on Advanced Robotics and Mechatronics (ARM),
Portsmouth, UK, August 2025.
Grzegorz Ficht and Sven Behnke:
Maximum Impulse Approach to
Soccer Kicking for Humanoid Robots
In: Workshop on Humanoid Soccer Robots, IEEE-RAS 23rd International
Conference on Humanoid Robots
(Humanoids), Nancy, France, November 2024.
Dmytro Pavlichenko, Grzegorz Ficht, Luis Denninger, Vitalii
Tutevych,
Michael Schreiber and Sven Behnke:
NimbRo AdultSize Software Description
2024
NimbRo AdultSize Robot Data Sheet 2024
In: RoboCup Humanoid League Team Descriptions, Eindhoven, Netherlands,
July 2024.
[Video]
Grzegorz Ficht and Sven Behnke:
Centroidal State Estimation
and Control for Hardware Constrained Humanoid Robots
In Proceedings of IEEE-RAS 22nd International Conference on Humanoid
Robots
(Humanoids), Austin, USA, December 2023.
[Video]
Dmytro Pavlichenko, Grzegorz Ficht, Michael Schreiber, and Sven Behnke:
NimbRo AdultSize Software Description 2023
NimbRo AdultSize Robot Data Sheet 2023
In: RoboCup Humanoid League Team Descriptions, Bordeaux, France, July
2023.
[Video]
Dmytro Pavlichenko, Grzegorz Ficht, Arash Amini, Mojtaba
Hosseini,
Raphael Memmesheimer, Angel Villar-Corrales, Stefan M. Schulz, Marcell
Missura, Maren Bennewitz, and Sven Behnke:
RoboCup 2022
AdultSize Winner NimbRo: Upgraded Perception, Capture Steps Gait and
Phase-based In-walk Kicks
In: RoboCup 2022: Robot World Cup XXV, LNCS 13561, pp. 240-252,
Springer, May 2023.
Grzegorz Ficht and Sven Behnke:
Direct Centroidal Control for Balanced Humanoid Locomotion
In Proceedings of 25th International Conference on Climbing and Walking
Robots
(CLAWAR), Ponta Delgada, Azores, Portugal, September 2022.
Runner-up Best Technical Paper Award.
[Video]
Dmytro Pavlichenko, Hafez Farazi, Grzegorz Ficht, Marcell Missura,
Mojtaba Hosseini, Angel Villar-Corrales, and Sven Behnke:
NimbRo AdultSize Extended Abstract
2022
In: RoboCup Humanoid League Team Descriptions, Bangkok, Thailand, July
2022
Andre Brandenburger, Diego Rodriguez, and Sven Behnke:
Mapless Humanoid Navigation Using
Learned Latent Dynamics
In Proceedings of IEEE/RSJ International Conference on Intelligent
Robots
and Systems (IROS), Prague, Czech Republic, September 2021.
[Video]
Grzegorz Ficht and Sven Behnke:
Bipedal Humanoid Hardware Design:
A Technology Review
Current Robotics Reports 2, 201–210, Springer, 2021.
Grzegorz Ficht, Hafez Farazi, Diego Rodriguez, Dmytro Pavlichenko,
Philipp Allgeuer, André Brandenburger, and Sven Behnke
NimbRo-OP2X: Affordable
Adult-sized 3D-printed Open-Source Humanoid Robot for Research
International Journal of Humanoid Robotics (IJHR), vol. 17, no. 05,
2050021, 2020.
Hafez Farazi, Grzegorz Ficht, Diego Rodriguez, Dmytro Pavlichenko,
Mojtaba Hosseini, Oleg Kosenko, Marcell Missura, and Sven Behnke:
NimbRo AdultSize Software
Description 2020
In: RoboCup 2020 Humanoid League Team Descriptions, Bordeaux,
France, June 2020.
Grzegorz Ficht and Sven Behnke :
Fast Whole-Body Motion Control of
Humanoid Robots with Inertia Constraints
In Proceedings of IEEE International Conference on Robotics and
Automation (ICRA), Paris, France, May 2020.
[Video]
Marcell Missura, Maren Bennewitz, and Sven Behnke:
Capture Steps: Robust Walking for
Humanoid Robots
International Journal of Humanoid Robotics (IJHR)
16(6):1950032:1-1950032:28, World Scientific, 2019.
[Video]
Diego Rodriguez, Hafez Farazi, Grzegorz Ficht, Dmytro
Pavlichenko, André Brandenburger, Mojtaba Hosseini, Oleg Kosenko,
Michael Schreiber, Marcel Missura, and Sven Behnke:
RoboCup 2019 AdultSize
Winner NimbRo: Deep Learning Perception, In-Walk Kick, Push Recovery,
and Team Play Capabilities
In: RoboCup 2019, Robot World Cup XXIII. LNCS 11531, pp. 631-645,
Springer, 2019.
Daniel Schleich, Mojtaba Hosseini, Diego Rodriguez, and Sven Behnke
Real-Time Footstep Planning with
CoM Dynamics
Late Breaking Report at IEEE-RAS 19th International Conference on
Humanoid Robots (Humanoids), Toronto, Canada, October 2019.
Hafez Farazi, Grzegorz Ficht, Philipp Allgeuer, Dmytro Pavlichenko,
Diego Rodriguez, André Brandenburger, Mojtaba Hosseini, and Sven Behnke:
NimbRo Robots Winning RoboCup 2018
Humanoid AdultSize Soccer Competitions
In: RoboCup 2018: Robot World Cup XXII. LNCS 11374, pp 436-449.
Springer, 2019.
Diego Rodriguez, Hafez Farazi, Grzegorz Ficht, Dmytro Pavlichenko,
Andre Brandenburger, Mojtaba Hosseini and Sven Behnke
NimbRo AdultSize Team
Description Paper 2019
In RoboCup Humanoid League Team Descriptions, Sydney, Australia, July
2019
Grzegorz Ficht, Hafez Farazi, Andre Brandenburger, Diego Rodriguez,
Dmytro Pavlichenko, Philipp Allgeuer, Mojtaba Hosseini, and Sven Behnke:
NimbRo-OP2X:
Adult-sized Open-source 3D Printed Humanoid Robot
In Proceedings of IEEE-RAS 18th International Conference on Humanoid
Robots (Humanoids), Beijing, China, November 2018.
[Hardware] [Software]
Grzegorz Ficht and Sven Behnke:
Online Balanced Motion Generation
for Humanoid Robots
In Proceedings of IEEE-RAS 18th International Conference on Humanoid
Robots (Humanoids), Beijing, China, November 2018.
Philipp Allgeuer and Sven Behnke:
Bipedal Walking with Corrective
Actions in the Tilt Phase Space
In Proceedings of IEEE-RAS 18th International Conference on Humanoid
Robots (Humanoids), Beijing, China, November 2018.
Philipp Allgeuer and Sven Behnke:
Tilt Rotations and the Tilt Phase
Space
In Proceedings of IEEE-RAS 18th International Conference on Humanoid
Robots (Humanoids), Beijing, China, November 2018.
Diego Rodriguez, André Brandenburger, and Sven Behnke:
Combining Simulations and
Real-robot Experiments for Bayesian Optimization of Bipedal Gait
Stabilization
In Proceedings of 22nd RoboCup International Symposium, Montreal,
Canada, June 2018.
Grzegorz Ficht, Dmytro Pavlichenko, Philipp Allgeuer, Hafez Farazi,
Diego Rodriguez, André Brandenburger, Johannes Kürsch, Michael
Schreiber, and Sven Behnke:
Grown-up
NimbRo Robots Winning RoboCup 2017 Humanoid AdultSize Soccer
Competitions
In RoboCup 2017: Robot World Cup XXI, LNCS 11175, pp. 448-460,
Springer, 2018.
Diego Rodriguez, Hafez Farazi, Philipp Allgeuer, Grzegorz Ficht,
Dmytro Pavlichenko, André Brandenburger, Johannes Kürsch, and Sven
Behnke:
Advanced Soccer Skills and Team
Play of RoboCup 2017 TeenSize Winner NimbRo
In RoboCup 2017: Robot World Cup XXI, LNCS 11175, pp. 435-447,
Springer, 2018.
Hafez Farazi, Philipp Allgeuer, Grzegorz Ficht, Dmytro Pavlichenko,
Diego Rodriguez, and Sven Behnke:
NimbRo AdultSize Team Description
2018
In RoboCup 2018 Humanoid League Team Descriptions, Montreal,
Canada, June 2018.
Grzegorz Ficht, Philipp Allgeuer, Hafez Farazi, and Sven Behnke:
NimbRo-OP2: Grown-up 3D Printed
Open Humanoid Platform for Research
In Proceedings of IEEE-RAS International Conference on Humanoid Robots
(Humanoids), Birmingham, UK, November 2017.
[Video]
[CAD Release] [Software]
Hafez Farazi and Sven Behnke:
Online Visual Robot Tracking and
Identification using Deep LSTM Networks
In Proceedings of IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS), Vancouver, Canada, September 2017.
RoboCup Best Paper Award.
[Video]
Grzegorz Ficht, Hafez Farazi, and Sven Behnke:
NimbRo AdultSize Team Description
2017
In RoboCup 2017 Humanoid League Team Descriptions, Nagoya,
Japan, July 2017.
Philipp Allgeuer, Hafez Farazi and Sven Behnke:
NimbRo TeenSize Team Description
2017
In RoboCup 2017 Humanoid League Team Descriptions, Nagoya,
Japan, July 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
In: RoboCup 2016: Robot World Cup XX, LNCS 9776, pp. 478-490,
Springer, 2017.
Philipp Allgeuer, Grzegorz Ficht, Hafez Farazi, Michael Schreiber,
and Sven Behnke:
First International HARTING Open
Source Prize Winner: The igus Humanoid Open Platform
In: RoboCup 2016: Robot World Cup XX, LNCS 9776, pp. 625-633, Springer,
2017.
Philipp Allgeuer and Sven Behnke:
Omnidirectional Bipedal Walking
with Direct Fused Angle Feedback Mechanisms
In Proceedings of IEEE-RAS International Conference on Humanoid Robots
(Humanoids), Cancun, Mexico, November 2016.
[Video]
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
German Journal on Artificial Intelligence (KI), volume 30, issue
3-4, pp. 315-319, 2016.
Hafez Farazi and Sven Behnke:
Real-Time Visual Tracking and
Identification for a Team of Homogeneous Humanoid Robots
In Proceedings of 20th RoboCup International Symposium, Leipzig,
Germany, July 2016.
[Video]
Hafez Farazi, Philipp Allgeuer, Grzegorz Ficht, and Sven Behnke:
NimbRo TeenSize Team
Description 2016
In RoboCup Humanoid League Team Descriptions, Leipzig,
Germany, June 2016.
[Video]
Philipp Allgeuer, Hafez Farazi, Michael Schreiber, and Sven Behnke:
Child-sized 3D Printed igus
Humanoid Open Platform
In Proceedings of IEEE-RAS International Conference on Humanoid Robots
(Humanoids), Seoul, Korea, November 2015.
Hafez Farazi, Philipp Allgeuer, and Sven Behnke:
A Monocular Vision System for
Playing Soccer in Low Color Information Environments
In Proceedings of 10th Workshop on Humanoid Soccer Robots,
IEEE-RAS International Conference on Humanoid Robots (Humanoids),
Seoul, Korea, November 2015.
Reinhard Gerndt, Daniel Seifert, Jacky Baltes, Soroush Sadeghnejad,
and Sven Behnke:
Humanoid Robots in Soccer – Robots
Versus Humans in RoboCup 2050
IEEE Robotics and Automation Magazine 22(3):147-154, September
2015.
Marcell Missura and Sven Behnke:
Gradient-Driven Online Learning of
Bipedal Push Recovery
In Proceedings of IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS), Hamburg, Germany, September 2015.
[Video]
Philipp Allgeuer and Sven Behnke:
Fused Angles: A Representation of
Body Orientation for Balance
In Proceedings of IEEE/RSJ International Conference on Intelligent
Robots and Systems (IROS), Hamburg, Germany, September 2015.
Marcell Missura and Sven Behnke:
Online Learning of Bipedal Walking
Stabilization
German Journal on Artificial Intelligence (KI), 2015.
Philipp Allgeuer, Marcell Missura and Sven Behnke:
NimbRo TeenSize Team Description
2015
In: RoboCup Humanoid League Team Descriptions, Hefei, China, July
2015.
Marcell Missura and Sven Behnke:
Online Learning of Sagittal Push
Recovery for Bipedal Robots
Late Breaking Result Abstract at IEEE International Conference on
Robotics and Automation (ICRA), Seattle, USA, May 2015. [Poster]
[Video]
Marcell Missura and Sven Behnke:
Online Learning of Foot
Placement for Balanced Bipedal Walking
In Proceedings of 14th IEEE-RAS International Conference on Humanoid
Robots (Humanoids), Madrid, Spain, November 2014.
Philipp Allgeuer and Sven Behnke:
Robust Sensor Fusion
for Robot Attitude Estimation
In Proceedings of 14th IEEE-RAS International Conference on Humanoid
Robots (Humanoids), Madrid, Spain, November 2014. [Source code]
Philipp Allgeuer and Sven Behnke:
Fused
Angles for Body Orientation Representation
In Proceedings of 9th Workshop on Humanoid Soccer Robots,14th IEEE-RAS
International Conference on Humanoid Robots (Humanoids), Madrid,
Spain, November 2014. [Source
code]
Marcell Missura and Sven Behnke:
Video description: Online
Learning of Foot Placement [Video]
In Proceedings of 14th IEEE-RAS International Conference on Humanoid
Robots (Humanoids), Madrid, Spain, November 2014.
Marcell Missura and Sven Behnke:
Video description: Walking
with Capture Steps [Video]
In Proceedings of 14th IEEE-RAS International Conference on Humanoid
Robots (Humanoids), Madrid, Spain, November 2014.
Marcell Missura and Sven Behnke:
Balanced Walking with Capture Steps
In Proceedings of 18th RoboCup International Symposium, Joao Pessoa,
Brasil, July 2014.
Best Science Paper Award.
Jacky Baltes, Soroush Sadeghnejad, Daniel Seifert, and Sven Behnke:
RoboCup Humanoid League Rule
Developments 2002-2014 and Future Perspectives
In Proceedings of 18th RoboCup International Symposium, Joao Pessoa,
Brasil, July 2014.
Marcell Missura, Philipp Allgeuer, Michael Schreiber, Cedrick
Münstermann, Max Schwarz, Sebastian Schueller, and Sven Behnke
NimbRo TeenSize 2014 Team
Description
In: RoboCup Humanoid League Team Descriptions, Joao Pessoa, July 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
RoboCup 2013: Robot World Cup XVII, Lecture Notes in Computer Science
8371, pp. 56-67, Springer, to appear 2014.
Marcell Missura and Sven Behnke:
Omnidirectional Capture Steps for
Bipedal Walking
In Proceedings of 13th IEEE-RAS International Conference on Humanoid
Robots (Humanoids), Atlanta, GA, October 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.
In Proceedings of 8th Workshop on Humanoid Soccer Robots, IEEE-RAS
International Conference on Humanoid Robots (Humanoids), Atlanta,
October 2013.
Philipp Allgeuer and Sven Behnke:
Hierarchical
and State-based Architectures for Robot Behavior Planning and Control.
In Proceedings of 8th Workshop on Humanoid Soccer Robots, IEEE-RAS
International Conference on Humanoid Robots (Humanoids), Atlanta,
October 2013.
Marcell Missura and Sven Behnke:
Self-stable
Omnidirectional Walking with Compliant Joints.
In Proceedings of 8th Workshop on Humanoid Soccer Robots, IEEE-RAS
International Conference on Humanoid Robots (Humanoids), Atlanta,
October 2013.
Max Schwarz and Sven Behnke:
Compliant
Robot
Behavior using Servo Actuator Models identified by Iterative Learning
Control
In Proceedings of 17th RoboCup International Symposium, Eindhoven,
Netherlands, June 2013.
Max Schwarz, Julio Pastrana, Philipp Allgeuer, Michael Schreiber,
Sebastian Schueller, Marcell Missura and Sven Behnke:
Humanoid TeenSize Open Platform
NimbRo-OP
In Proceedings of 17th RoboCup International Symposium, Eindhoven,
Netherlands, June 2013.
Marcell Missura, Michael Schreiber, Julio Pastrana, Cedrick
Münstermann, Max Schwarz, Sebastian Schueller, and Sven Behnke:
NimbRo TeenSize 2013 Team
Description
In RoboCup 2013 Humanoid League team descriptions, Eindhoven, June 2013.
Marcell Missura, Cedrick Münstermann, Malte Masuelshagen, Michael
Schreiber and Sven Behnke:
RoboCup
2012 Best Humanoid Award Winner NimbRo TeenSize
RoboCup 2012, Robot Soccer World Cup XVI, Springer, LNCS 7500, pp.
89-93, 2013.
Max Schwarz, Michael Schreiber, Sebastian Schueller, Marcell Missura
and Sven Behnke:
NimbRo-OP Humanoid TeenSize Open
Platform
In Proceedings of 7th Workshop on Humanoid Soccer Robots, IEEE-RAS
International Conference on Humanoid Robots, Osaka, November 2012.
Juan José Alcaraz-Jiménez, Marcell Missura,
HumbertoMartínez-Barberá, and Sven Behnke:
Lateral Disturbance Rejection for
the Nao Robot
In Proceedings of 16th RoboCup International Symposium, Mexico
City, June 2012.
Best Paper Award.
Michael Schreiber and Sven Behnke:
Humanoid TeenSize Open Platform
In Projects for Promoting RoboCup, Mexico City, June 2012.
Sven Behnke, Marcell Missura, and Hannes Schulz:
NimbRo TeenSize 2012 Team
Description
In RoboCup 2012 Humanoid League team descriptions, Mexico City, June
2012.
Hannes Schulz and Sven Behnke:
Utilizing the Structure of
Field Lines for Efficient Soccer Robot Localization
Advanced Robotics, 26(14):1603-1621, 2012.
Daniel D. Lee, Seung-Joon Yi, Stephen McGill, Yida
Zhang, Sven Behnke, Marcell Missura, Hannes Schulz, Dennis Hong,
Jeakweon Han, and Michael Hopkins:
RoboCup
2011 Humanoid League Winners
In: RoboCup 2011: Robot Soccer World Cup XV, LNCS 7416, pp. 37-50,
Springer, 2012.
Marcell Missura and Sven Behnke:
Lateral
Capture
Steps for Bipedal Walking
In Proceedings of 11th IEEE-RAS International Conference on Humanoid
Robots (Humanoids), Bled, Slovenia, October 2011.
Andreas Schmitz, Marcell Missura, and Sven Behnke:
Real-Time Trajectory Generation by
Offline Footstep Planning for a Humanoid Soccer Robot
In Proceedings of the 15th RoboCup International Symposium, Istanbul,
July 2011.
In: RoboCup 2011: Robot Soccer World Cup XV, LNCS 7416, pp. 198-209,
Springer, 2012.
Saskia Metzler, Matthias Nieuwenhuisen, and Sven Behnke:
Learning Visual Obstacle Detection
Using Color Histogram Features
In Proceedings of the 15th RoboCup International Symposium, Istanbul,
July 2011.
In: RoboCup 2011: Robot Soccer World Cup XV, LNCS 7416, pp. 149-161,
Springer, 2012.
Matthias Nieuwenhuisen, Ricarda Steffens, and Sven Behnke:
Local Multiresolution Path
Planning in Soccer Games Based on Projected Intentions
In Proceedings of the 15th RoboCup International Symposium, Istanbul,
July 2011.
In: RoboCup 2011: Robot Soccer World Cup XV, LNCS 7416, pp. 495-506,
Springer, 2012.
Sven Behnke and Marcell Missura:
NimbRo
TeenSize 2011 Team Description
In RoboCup 2011 Humanoid League team descriptions, Istanbul, July 2011.
Ricarda Steffens, Matthias Nieuwenhuisen, and Sven Behnke:
Multiresolution Path Planning in
Dynamic Environments for the Standard Platform League
In Proceedings of The Fifth Workshop on Humanoid Soccer Robots at
Humanoids 2010, Nashville, TN, December 2010
Andreas Schmitz, Marcell Missura and Sven Behnke
Learning Footstep Prediction from
Motion Capture
In Proceedings of 14th International RoboCup Symposium, Singapore, June
2010.
Marcell Missura, Tobias Wilken and Sven Behnke
Designing Effective Humanoid
Soccer Goalies
In Proceedings of 14th International RoboCup Symposium, Singapore, June
2010.
Hannes Schulz, Weichao Liu, Jörg Stückler and Sven Behnke:
Utilizing the Structure of Field
Lines for Efficient Soccer Robot Localization
In Proceedings of 14th International RoboCup Symposium, Singapore, June
2010.
Hannes Schulz, Weichao Liu, Jörg Stückler, Sven Behnke:
Line
Structure-based Localization for Soccer Robots
In Proceedings of The 4th Workshop on Humanoid Soccer Robots,
International Conference on Humanoid Robots (Humanoids), Paris,
December 2009.
Tobias Wilken, Marcell Missura, and Sven Behnke:
Designing
Falling Motions for a Humanoid Soccer Goalie
In Proceedings of The 4th Workshop on Humanoid Soccer Robots,
International Conference on Humanoid Robots (Humanoids), Paris,
December 2009.
Sven Behnke, Jörg Stückler, and Michael Schreiber
NimbRo
TeenSize 2009 Team Description
In RoboCup 2009 Humanoid League team descriptions, Graz, Austria, July
2009.
Sven Behnke, Jörg Stückler, and Michael Schreiber
NimbRo
KidSize 2009 Team Description
In RoboCup 2009 Humanoid League team descriptions, Graz, Austria, July
2009.
Sven Behnke:
Humanoid Robots - From Fiction to
Reality?
KI-Zeitschrift, 4/08, pp. 5-9, December 2008.
Sven Behnke and Jörg Stückler:
"Hierarchical Reactive Control for
Humanoid Soccer Robots"
International Journal of Humanoid Robots (IJHR), vol. 5, no. 3, pp.
375-396, September 2008.
Earlier publications can be found here.