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
Accepted for International Journal of Humanoid Robotics (IJHR), to
appear 2020.
Hafez Farazi, Grzegorz Ficht, Diego Rodriguez, Dmytro Pavlichenko,
Mojtaba Hosseini, Oleg Kosenko, Marcell Missura, and Sven Behnke:
NimbRo AdultSize Software Description 2020
Accepted for 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
Accepted for International Journal of Humanoid Robotics (IJHR), World
Scientific, to appear 2020.
[Video]
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.