Jutta Kiener

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The development process to achieve walking motion with a recently constructed humanoid robot is discussed. The desired motion is based on the solution of an optimal control problem whose constraints depend upon the high-dimensional nonlinear multibody system dynamics of the 17 DoF humanoid and physical contact constraints with the environment. On-line(More)
The software framework RoboFrame has been designed to meet the special requirements for teams of lightweight autonomous heterogeneous robot systems. Due to platform abstraction and modern object oriented design, it allows the reuse of components of common robot control software. It can also efficiently be implemented on new platforms and enables different(More)
Autonomous soccer games represent an extraordinary challenge for autonomous hu-manoid robots which must act fast and stable while carrying all needed onboard computers , sensors and batteries. In this paper, the development and system integration of hardware and software modules of the 55 cm tall, autonomous humanoid soccer robot Bruno is described to cope(More)
For teams of cooperating autonomous lightweight robots with challenging dynamical locomotion properties a platform independent modular software architecture and platform independent modules for sensor data processing, planning and motion control have been developed. The software architecture allows high level communication between modules on different(More)
In this paper we present a case study of cooperation of a strongly heterogeneous robot team, composed of a highly articulated humanoid robot and a wheeled robot with largely complementing and some competing capabilities. By combining two strongly heterogeneous robots the diversity of accomplishable tasks increases as the variety of sensors and actuators in(More)
In this paper a case study of cooperation of a strongly heterogeneous autonomous robot team, composed of a highly articulated humanoid robot and a wheeled robot with largely complementing and some redundant abilities is presented. By combining strongly heterogeneous robots the diversity of achievable tasks increases as the variety of sensing and motion(More)
This paper describes the hardware and software design of the two hu-manoid robot systems of the Darmstadt Dribblers. The robots are used as a vehicle for research in control of locomotion and behavior of humanoid robots with many degrees of freedom and many actuated joints. The Humanoid League of RoboCup provides an ideal testbed for such aspects of(More)
This paper describes the hardware and software design of the three humanoid robot systems of the Darmstadt Dribblers and Hajime Team in KidSize and TeenSize. The robots are used as a vehicle for research in control of locomotion and behavior of humanoid robots and robot teams with many degrees of freedom and many actuated joints. The Humanoid League of(More)