Control and Robotics

Prof. Martin Buss is a Carl von Linde Senior Alumni Fellow as well as the holder of the chair of Automatic Control Engineering at TUM. In 2010, he was awarded the ERC Advanced Grant Seamless Human-Robot Interaction in Dynamically Changing Environments (SHRINE) which is also the research project he concentrates on as a Carl von Linde Senior Fellow.

SHRINE takes an integrated approach with pioneering character and is strongly interdisciplinary bridging engineering approaches and human sciences. It constitutes visionary high-risk research with high-impact on future emerging technologies in the fields of strongly needed personal assistant and care robots, human-robot collaboration in manufacturing, and autonomous robots in human-centered environments.

In order to alleviate barriers that prevent the robots of today from smoothly interacting with humans in an efficient and socially compatible manner, SHRINE pushes robotics research on multiple levels. The SHRINE team conducts control theoretic research that lays the fundamentals for stable and robust controller design in robotics. Research on non-prehensile dynamic manipulation extends the manipulation repertoire of robots, while challenges in biped walking are addressed in order to allow for robust legged locomotion in human environments. The SHRINE team further pursues the goal of efficient and socially compatible human-robot interaction through investigation and modeling of human behavior and transfer of the obtained results to human-inspired controllers. Interaction scenarios cover non-contact situations, e.g. humans approaching or avoiding each other when walking in public spaces, as well as contact situations, e.g. joint manipulation of bulky objects.

Before winning the Fellowship, Prof. Martin Buss was already an active member of the TUM-IAS as a host of the (now alumni) Focus Group Cognitive Technology.

Prof. Dongheui Lee is a Carl von Linde Junior Fellow. She is an assistant professor at the Institute of Automatic Control Engineering. She is the head of the "Dynamic Human Robot Interaction for Automation System Lab". Her research aims at developing intuitive robots with which general users can communicate without the need of engineering knowledge or a user manual. In order to realize an intuitive robot and to satisfy humans’ expectations for a robotic companion, Prof. Lee proposes to study about ourselves as ’human beings’ and transfer the discovered mechanisms to the robotic system. The research is divided into three categories: biologically inspired skill acquisition and action, close human-robot interaction, focusing on cognitive interaction and physical interaction, and understanding human perception for developing humanoid perception.

Before transferring to this group, Prof. Dongheui Lee was active in the (alumni) Focus Group Cognitive Technology.

 

Publications by the Focus Group

2018

  • Kersting, Stefan; Buss, Martin: How to Systematically Distribute Candidate Models and Robust Controllers in Multiple-Model Adaptive Control: A Coverage Control Approach. IEEE Transactions on Automatic Control 63 (4), 2018, 1075-1089 more…
  • Pekarovskiy, Alexander; Nierhoff, Thomas; Hirche, Sandra; Buss, Martin: Dynamically Consistent Online Adaptation of Fast Motions for Robotic Manipulators. IEEE Transactions on Robotics 34 (1), 2018, 166-182 more…

2017

  • Apostolopoulos, Sotiris; Leibold, Marion; Buss, Martin: Energy Efficient and Robust Balancing with Motion Primitive Switching. International Journal of Humanoid Robotics 14 (03), 2017, 1750009 more…
  • Friedrich, Stefan R.; Buss, Martin: A robust stability approach to robot reinforcement learning based on a parameterization of stabilizing controllers. 2017 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2017 more…
  • Kersting, Stefan; Buss, Martin: Recursive estimation in piecewise affine systems using parameter identifiers and concurrent learning. International Journal of Control, 2017, 1-18 more…
  • Yiyong Sun; Zengjie Zhang; Leibold, Marion; Hayat, Rameez; Wollherr, Dirk; Buss, Martin: Protective control for robot manipulator by sliding mode based disturbance reconstruction approach. 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), IEEE, 2017 more…

2016

  • Apostolopoulos, Sotiris; Leibold, Marion; Buss, Martin: Online motion planning over uneven terrain with walking primitives and regression. 2016 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2016 more…
  • De Nijs, Roderick Sebastiaan; Landsiedel, Christian; Wollherr, Dirk; Buss, Martin: Quadratization and Roof Duality of Markov Logic Networks. Journal of Artificial Intelligence Research 55, 2016, 685-714 more…
  • Donner, Philine; Buss, Martin: Cooperative Swinging of Complex Pendulum-Like Objects: Experimental Evaluation. IEEE Transactions on Robotics 32 (3), 2016, 744-753 more…
  • Friedrich, Stefan R.; Buss, Martin: Direct adaptive-Q control for online performance enhancement of switching linear systems. 2016 IEEE 55th Conference on Decision and Control (CDC), IEEE, 2016 more…
  • Hayat, Rameez; Buss, Martin: Model identification for robot manipulators using regressor-free adaptive control. 2016 UKACC 11th International Conference on Control (CONTROL), IEEE, 2016 more…
  • Khan, Sheraz; Wollherr, Dirk; Buss, Martin: Modeling Laser Intensities For Simultaneous Localization and Mapping. IEEE Robotics and Automation Letters 1 (2), 2016, 692-699 more…
  • Liu, Fangzhou; Buss, Martin: Node-based SIRS model on heterogeneous networks: Analysis and control. 2016 American Control Conference (ACC), IEEE, 2016 more…
  • Liu, Fangzhou; Buss, Martin: Optimal control for information diffusion over heterogeneous networks. 2016 IEEE 55th Conference on Decision and Control (CDC), IEEE, 2016 more…
  • Turnwald, Annemarie; Althoff, Daniel; Wollherr, Dirk; Buss, Martin: Understanding Human Avoidance Behavior: Interaction-Aware Decision Making Based on Game Theory. International Journal of Social Robotics 8 (2), 2016, 331-351 more…

2015

  • An, Sang-ik; Lee, Dongheui: Prioritized Inverse Kinematics with Multiple Task Definitions. 2015 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2015 more…
  • Apostolopoulos, Sotiris; Leibold, Marion; Buss, Martin: Settling time reduction for underactuated walking robots. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Institute of Electrical and Electronics Engineers (IEEE), 2015 more…
  • Christange, Franz; Donner, Philine; Buss, Martin: Energy control for complex pendulums based on tracking of online computed force trajectories. 2015 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2015 more…
  • Donner, Philine; Christange, Franz; Buss, Martin: Fundamental dynamics based adaptive energy control for cooperative swinging of complex pendulum-like objects. 2015 54th IEEE Conference on Decision and Control (CDC) , IEEE , 2015 more…
  • Donner, Philine; Christange, Franz; Buss, Martin: Adaptive simple pendulum swing-up controller based on the closed-loop fundamental dynamics. 2015 European Control Conference (ECC), IEEE, 2015 more…
  • Garcia-Rochin, Roberto; Kuhne, Markus; Santiesteban-Cos, Raul; Rubio-Astorga, Guillermo J.; Peer, Angelika: Second-order model for rotary traveling wave ultrasonic motors. 2015 IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), IEEE, 2015 more…
  • Geravand, Milad; Rampeltshammer, Wolfgang; Peer, Angelika: Control of mobility assistive robot for human fall prevention. 2015 IEEE International Conference on Rehabilitation Robotics (ICORR), IEEE, 2015 more…
  • Kai Hu; Ott, Christian; Dongheui Lee: Online iterative learning control of zero-moment point for biped walking stabilization. 2015 IEEE International Conference on Robotics and Automation (ICRA), Institute of Electrical and Electronics Engineers (IEEE), 2015 more…
  • Kersting, Stefan; Buss, Martin: Removing erroneous history stack elements in concurrent learning. 2015 54th IEEE Conference on Decision and Control (CDC), Institute of Electrical and Electronics Engineers (IEEE), 2015 more…
  • Kersting, Stefan; Buss, Martin: An alternative approach to switching hyperplane estimation in PWA systems. 2015 American Control Conference (ACC), IEEE, 2015 more…
  • Kersting, Stefan; Buss, Martin: Removing erroneous history stack elements in concurrent learning. 2015 54th IEEE Conference on Decision and Control (CDC), IEEE, 2015 more…
  • Khan, Sheraz; Wollherr, Dirk; Buss, Martin: Adaptive rectangular cuboids for 3D mapping. 2015 IEEE International Conference on Robotics and Automation (ICRA), Institute of Electrical and Electronics Engineers (IEEE), 2015 more…
  • Klare, Stefan; Peer, Angelika: Haptic Rendering of Compliant Shapes. IEEE Transactions on Robotics 31 (4), 2015, 893-905 more…
  • Koropouli, Vasiliki; Hirche, Sandra; Lee, Dongheui: Generalization of Force Control Policies from Demonstrations for Constrained Robotic Motion Tasks. Journal of Intelligent & Robotic Systems 80 (S1), 2015, 133-148 more…
  • Pekarovskiy, Alexander; Nierhoff, Thomas; Hirche, Sandra; Buss, Martin: Spline deformation of locally optimal trajectories: Feasibility and upper bound on control inputs. 2015 54th IEEE Conference on Decision and Control (CDC), IEEE, 2015 more…
  • Pekarovskiy, Alexander; Nierhoff, Thomas; Schenek, Jochen; Nakamura, Yoshihiko; Hirche, Sandra; Buss, Martin: Online deformation of optimal trajectories for constrained nonprehensile manipulation. 2015 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2015 more…
  • Saveriano, Matteo; An, Sang-ik; Lee, Dongheui: Incremental kinesthetic teaching of end-effector and null-space motion primitives. 2015 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2015 more…
  • Schill, Markus M.; Gruber, Felix; Buss, Martin: Quasi-direct nonprehensile catching with uncertain object states. 2015 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2015 more…
  • Shile Li; Seongyong Koo; Dongheui Lee: Real-time and model-free object tracking using particle filter with Joint Color-Spatial Descriptor. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), IEEE, 2015 more…

2014

  • A. Peer, M. Buss, B. Stanczyk, D. Szczesniak-Stanczyk, W. Brzozowski, A. Wysokinski, M. Tscheligi, C. A. Avizzano, E. Ruffaldi, L. van Gool, A. Fossati, K. Arent, J. Jakubiak, and M. Janiak: Towards a remote medical diagnostician for medical examination. NextMed/MMVR21, 2014 more…
  • Jenke, Robert; Peer, Angelika; Buss, Martin: Feature Extraction and Selection for Emotion Recognition from EEG. IEEE Transactions on Affective Computing 5 (3), 2014, 327-339 more…
  • Kersting, Stefan; Buss, Martin: Concurrent learning adaptive identification of piecewise affine systems. 53rd IEEE Conference on Decision and Control, IEEE, 2014 more…

2013

  • Kiani Bejestani, Arman: Wholesale Energy Market in a Smart Grid: Dynamic modeling, stability, and robustness. Dissertation, 2013 more…