Cognitive Technology

Prof. Alexandra Kirsch was a Carl von Linde Junior Fellow until 2012. Her research aims at planning and plan execution mechanisms for autonomous robots that assist people in everyday environments. In the context of her IAS fellowship, she focuses on the concept of "expectations" in the execution of everyday activities. Humans constantly make predictions of the world and use this knowledge to decide on a course of actions or detect problems in their activities. In psychology, this capability is believed to be an important factor for the interaction of humans to achieve joint goals. Likewise a robot having expectations about the future development of its environment (including its own actions and the activities of a collaborating human) will be better able to show behavior that feels natural to users. Moreover, comparing expectations with the observed course of actions allows a robot to detect unusual situations without the need to foresee all possible contingencies when programming the robot. Particular challenges in this research are to find appropriate forms of representating relevant knowledge and how to acquire this knowledge automatically. Alexandra Kirsch is now an assistant professor for Human-Computer-Interaction at the University of Tübingen.

Prof. Dongheui Lee was a Carl von Linde Junior Fellow and was active in this Focus Group until 2014. She has transferred to the Focus Group Control and Robotics.

Prof. Kolja Kühnlenz was active in this Focus Group as a Carl von Linde Junior Fellow until 2012. Since 2014, he has been a professor of electrical engineering at Coburg University of Applied Sciences and Arts.

Prof. Mandayam Srinivasan is the founder and director of the Laboratory for Human and Machine Haptics at the Massachusetts Institute of Technology, informally known as the MIT Touch Lab that has contributed fundamentally to the emergence and growth of the modern field of haptics. He is also a Senior Scientist in the Department of Mechanical Engineering and the Research Laboratory of Electronics at MIT and is recognized worldwide as an authority on haptic computation, cognition, and communication in humans and machines. As a Hans Fischer Senior Fellow, Dr. Srinivasan investigates the scientific foundations of human haptics and their applications in the development of cognitive technical systems such as next generation computer interfaces and robotic assistants, primarily in collaboration with Prof. Martin Buss and colleagues in the Institute of Automatic Control Engineering at TUM. Dr. Srinivasan is also building multidisciplinary connections with other research groups within and beyond TUM interested in different aspects of haptics in fields such as neuroscience, psychophysics, micro-technology, robotics and computer science.

Prof. Angelika Peer was a postdoctoral researcher and lecturer at the TUM Institute of Automatic Control Engineering and was a Carl von Linde Junior Fellow in this TUM-IAS Focus Group. Since 2014, she has been a professor of the University of the West of England, working at the Bristol Robotics Laboratory.

Dr. Georg von Wichert was a Rudolf Diesel Industry Fellow until 2012. At Siemens Corporate Research and Technologies he is responsible for the Cognitive Autonomous Systems Program. When implementing technical systems targeted at autonomous operation in real-world applications, the environmental complexity, leading to extremely high-dimensional state spaces and the unavoidable uncertainty are the main challenges. The uncertainty related issues have to be addressed by actively controlling the systems current understanding of the world. Handling the complexity of real-world applications requires the ability to reason about the world on different levels of abstraction. Dr. Georg von Wicherts research consequently aims at the realization of “active thinking” as the process of purposefully acquiring information, forming abstracted representations, and using the thus available knowledge to generate robust, goal-directed behavior even in the presence of significant uncertainty. In the context of his IAS fellowship he cooperated especially with Prof. Martin Buss and colleagues in the Institute of Automatic Control Engineering and focused on devising and demonstrating general architectural principles for cognitive control in autonomous systems based on probabilistic approaches and with applications in (among others) supervisory control and service robotics.

Prof. Dirk Wollherr is currently a professor at the TUM Institute of Automatic Control Engineering. As a Carl von Linde Junior Fellow, he was active in this TUM-IAS Focus Group until 2013.

TUM-IAS funded doctoral candidates:
Michael Karg (PhD in 2014), Human-Centered Artificial Intelligence
Barbara Kühnlenz (PhD in 2013)
Christina Lichtenthäler (PhD in 2014), Intelligent Autonomous Systems
Andreas Schmid, University College London (UCL) - TouchLab
Bernhard Weber, Automatic Control Engineering
Liu Ziyuan (PhD in 2014)

Publications by the Focus Group

2015

  • An, S.; Lee, D.: Prioritized Inverse Kinematics with Multiple Task Definitions. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015 mehr…
  • Hu, K.; Ott, Ch.; Lee, D.: Online Iterative Learning Control of Zero-Moment Point for Biped Walking Stabilization. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2015 mehr…
  • Klare, Stefan; Peer, Angelika: The Formable Object: A 24-Degree-of-Freedom Shape-Rendering Interface. IEEE/ASME Transactions on Mechatronics 20 (3), 2015, 1360-1371 mehr…
  • Klare, Stefan; Peer, Angelika: Haptic Rendering of Compliant Shapes. IEEE Transactions on Robotics 31 (4), 2015, 893-905 mehr…
  • Koropouli, Vasiliki; Gusrialdi, Azwirman; Lee, Dongheui: An adaptive dynamic inversion-extremum seeking control approach for constrained robotic motion tasks. 2015 European Control Conference (ECC), IEEE, 2015 mehr…
  • Liu, Ziyuan; Chen, Dong; Wurm, Kai M.; von Wichert, Georg: Table-top scene analysis using knowledge-supervised MCMC. Robotics and Computer-Integrated Manufacturing 33, 2015, 110-123 mehr…
  • Soloperto, Raffaele; Saveriano, Matteo; Lee, Dongheui: A bidirectional invariant representation of motion for gesture recognition and reproduction. 2015 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2015 mehr…

2014

  • An, Sang-ik; Lee, Dongheui: Prioritized inverse kinematics using QR and cholesky decompositions. 2014 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2014 mehr…
  • Carton, Daniel; Turnwald, Annemarie; Olszowy, Wiktor; Buss, Martin; Wollherr, Dirk: Using penalized spline regression to calculate mean trajectories including confidence intervals of human motion data. 2014 IEEE International Workshop on Advanced Robotics and its Social Impacts, IEEE, 2014 mehr…
  • Corredor, Javier; Sofrony, Jorge; Peer, Angelika: Deciding on optimal assistance policies in haptic shared control tasks. 2014 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2014 mehr…
  • Ergin, Mehmet Alper; Kuhne, Markus; Thielscher, Axel; Peer, Angelika: Design of a new MR-compatible haptic interface with six actuated degrees of freedom. 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, IEEE, 2014 mehr…
  • Friedl, Ken E.; Qin, Yao; Ostler, Daniel; Peer, Angelika: Modeling the Weber Fraction of Vibrotactile Amplitudes Using Gain Control Through Global Feedforward Inhibition. In: Haptics: Neuroscience, Devices, Modeling, and Applications. Springer Berlin Heidelberg, 2014 mehr…
  • Geravand, Milad; Korondi, Peter Zeno; Peer, Angelika: Human sit-to-stand transfer modeling for optimal control of assistive robots. 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, IEEE, 2014 mehr…
  • Geravand, Milad; Peer, Angelika: Safety constrained motion control of mobility assistive robots. 5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, IEEE, 2014 mehr…
  • Hu, Kai; Ott, Christian; Lee, Dongheui: Online human walking imitation in task and joint space based on quadratic programming. 2014 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2014 mehr…
  • 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 mehr…
  • Karg, Michael: Representation, Acquisition and Use of Expectations for Domestic Service Robots. Dissertation, 2014 mehr…
  • Khan, Sheraz; Dometios, Athanasios; Verginis, Chris; Tzafestas, Costas; Wollherr, Dirk; Buss, Martin: RMAP: a rectangular cuboid approximation framework for 3D environment mapping. Autonomous Robots 37 (3), 2014, 261-277 mehr…
  • Koo, Seongyong; Lee, Dongheui; Kwon, Dong-Soo: Incremental object learning and robust tracking of multiple objects from RGB-D point set data. Journal of Visual Communication and Image Representation 25 (1), 2014, 108-121 mehr…
  • Koo, Seongyong; Lee, Dongheui; Kwon, Dong-Soo: Unsupervised object individuation from RGB-D image sequences. 2014 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, 2014 mehr…
  • Koropouli, Vasiliki; Gusrialdi, Azwirman; Lee, Dongheui: ESC-MRAC of MIMO systems for constrained robotic motion tasks in deformable environments. 2014 European Control Conference (ECC), IEEE, 2014 mehr…
  • Lee, Dongheui; Nakamura, Yoshihiko: Motion recognition and recovery from occluded monocular observations. Robotics and Autonomous Systems 62 (6), 2014, 818-832 mehr…
  • Lichtenthäler, Christina: Legibility of Robot Behavior – Investigating Legibility of Robot Navigation in Human-Robot Path Crossing Scenarios. Dissertation, 2014 mehr…
  • Liu, Ziyuan: Probabilistic Cognition for Autonomous Systems: Abstraction, Semantics and Knowledge. Dissertation, 2014 mehr…
  • Liu, Ziyuan; Chen, Dong; Wurm, Kai M.; von Wichert, Georg: Using rule-based context knowledge to model table-top scenes. 2014 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2014 mehr…
  • Lou, Lei; Kuhnlenz, Kolja: Hardware-in-the-loop development and real-time testing for precision motion control under RTAI. 2014 13th International Conference on Control Automation Robotics & Vision (ICARCV), IEEE, 2014 mehr…
  • Lou, Lei; Kuhnlenz, Kolja: Robust scale-invariant feature extraction. 2014 13th International Conference on Control Automation Robotics & Vision (ICARCV), IEEE, 2014 mehr…
  • Magnanimo, Vito; Saveriano, Matteo; Rossi, Silvia; Lee, Dongheui: A Bayesian approach for task recognition and future human activity prediction. The 23rd IEEE International Symposium on Robot and Human Interactive Communication, IEEE, 2014 mehr…
  • Reisinger, W. Zhou, A. Peer, and S. Hirche: Interaction-based dynamic measurement of haptic characteristics of automotive control elements. Eurohaptics 2014, 2014 mehr…
  • Saveriano, Matteo; Lee, Dongheui: Distance based dynamical system modulation for reactive avoidance of moving obstacles. 2014 IEEE International Conference on Robotics and Automation (ICRA), IEEE, 2014 mehr…
  • Saveriano, Matteo; Lee, Dongheui: Learning motion and impedance behaviors from human demonstrations. 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), IEEE, 2014 mehr…
  • Saveriano, Matteo; Lee, Dongheui: Safe motion generation and online reshaping using dynamical systems. 2014 11th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI), IEEE, 2014 mehr…

2013

  • Bätz, Georg; Weber, Bernhard; Scheint, Michael; Wollherr, Dirk; Buss, Martin: Dynamic contact force/torque observer: Sensor fusion for improved interaction control. The International Journal of Robotics Research 32 (4), 2013, 446-457 mehr…
  • Ergin, Mehmet Alper; Peer, Angelika: Development of a new 6 DOF parallel haptic interface for the rendering of elements and interior equipment in a car. 2013 IEEE RO-MAN, IEEE, 2013 mehr…
  • Jenke, Robert; Peer, Angelika; Buss, Martin: A Comparison of Evaluation Measures for Emotion Recognition in Dimensional Space. 2013 Humaine Association Conference on Affective Computing and Intelligent Interaction, IEEE, 2013 mehr…
  • Jenke, Robert; Peer, Angelika; Buss, Martin: Effect-size-based electrode and feature selection for emotion recognition from EEG. 2013 IEEE International Conference on Acoustics, Speech and Signal Processing, IEEE, 2013 mehr…
  • Klare, S.; Forssilow, D.; Peer, A.: Formable object — A new haptic interface for shape rendering. 2013 World Haptics Conference (WHC), IEEE, 2013 mehr…
  • Klare, Stefan; Peer, Angelika: Inverse kinematics for shape rendering interfaces. 2013 IEEE International Conference on Robotics and Automation, IEEE, 2013 mehr…
  • Koo, Seongyong; Lee, Dongheui; Kwon, Dong-Soo: GMM-based 3D object representation and robust tracking in unconstructed dynamic environments. 2013 IEEE International Conference on Robotics and Automation, IEEE, 2013 mehr…
  • Kühnlenz, Barbara Andrea: Alignment Strategies for Information Retrieval in Prosocial Human-Robot Interaction. Dissertation, 2013 mehr…
  • Kühnlenz, Barbara; Sosnowski, Stefan; Buß, Malte; Wollherr, Dirk; Kühnlenz, Kolja; Buss, Martin: Increasing Helpfulness towards a Robot by Emotional Adaption to the User. International Journal of Social Robotics 5 (4), 2013, 457-476 mehr…
  • Ott, Christian; Henze, Bernd; Dongheui Lee: Kinesthetic teaching of humanoid motion based on whole-body compliance control with interaction-aware balancing. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, 2013 mehr…
  • Passenberg, Carolina; Glaser, Antonia; Peer, Angelika: Exploring the Design Space of Haptic Assistants: The Assistance Policy Module. IEEE Transactions on Haptics 6 (4), 2013, 440-452 mehr…
  • Roberta L. Klatzky ; Dianne Pawluk ; Angelika Peer: Haptic Perception of Material Properties and Implications for Applications. Proceedings of the IEEE PP (99), 2013, 1-12 mehr…
  • Saveriano, Matteo; Dongheui Lee: Point cloud based dynamical system modulation for reactive avoidance of convex and concave obstacles. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, 2013 mehr…
  • Saveriano, Matteo; Dongheui Lee: Invariant representation for user independent motion recognition. 2013 IEEE RO-MAN, IEEE, 2013 mehr…
  • Saveriano, Matteo; Lee, Dongheui: Invariant Representation for User Independent Motion Recognition. Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man), 2013, 650-655 mehr…
  • Seongyong Koo; Dongheui Lee; Dong-Soo Kwon: Multiple object tracking using an RGB-D camera by hierarchical spatiotemporal data association. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, 2013 mehr…
  • Stefanov, N.; Passenberg, C.; Peer, A.; Buss, M.: Design and Evaluation of a Haptic Computer-Assistant for Telemanipulation Tasks. IEEE Transactions on Human-Machine Systems 43 (4), 2013, 385-397 mehr…
  • Wang, W.; Koropouli, V.; Lee, D.; Kühnlenz, K.: Articulated Object Modeling Based on Visual and Haptic Observations. Proceedings of the 2013 International Conference on Computer Vision Theory and Applications, 2013 mehr…

2012

  • Barbara Gonsior, Christian Landsiedel, Nicole Mirnig, Stefan Sosnowski, Ewald Strasser, Jakub Zlotowski Martin Buss, Kolja Kuhnlenz, Manfred Tscheligi, Astrid Weiss, Dirk Wollherr: Impacts of Multimodal Feedback on Efficiency of Proactive Information Retrieval from Task-Related HRI. JACIII 16 (2), 2012, 313-326 mehr…