I have helped constructing the robot TUM-Rosie and am interested in constraint-based robot control. I am working on specifying (kitchen) tasks in terms of constraints so a robot has still the necessary freedoms to adapt to changing environments.
My personal sandbox can be found here.
|Generality and Legibility in Mobile Manipulation , In Autonomous Robots Journal (Special Issue on Mobile Manipulation), volume 28, 2010. [bib] [pdf]|
|Movement-aware Action Control -- Integrating Symbolic and Control-theoretic Action Execution , In IEEE International Conference on Robotics and Automation (ICRA), 2012. [bib] [pdf]|
|Multimodal Autonomous Tool Analyses and Appropriate Application , In 11th IEEE-RAS International Conference on Humanoid Robots, 2011. [bib] [pdf]|
|Robotic Roommates Making Pancakes , In 11th IEEE-RAS International Conference on Humanoid Robots, 2011. [bib] [pdf]|
|Compact Models of Human Reaching Motions for Robotic Control in Everyday Manipulation Tasks , In Proceedings of the 8th International Conference on Development and Learning (ICDL)., 2009. [bib] [pdf]|
|The Assistive Kitchen -- A Demonstration Scenario for Cognitive Technical Systems , In IEEE 17th International Symposium on Robot and Human Interactive Communication (RO-MAN), Muenchen, Germany, 2008.(Invited paper.) [bib] [pdf]|
Constraint-based Action Specification for bridging the gap between Symbolic and Control-theoretic Action Execution (Ingo Kresse and Michael Beetz), submitted to ICRA 2012 [pdf]