K. Berns

Publications446
h-index27
Citations3,560
Highly Influential Citations98
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Development of complex robotic systems using the behavior-based control architecture iB2C
TLDR
This paper presents a development methodology for complex robotic systems using the behavior-based control architecture iB2C (integrated Behavior-Based Control). Expand
  • 103
  • 6
  • PDF
Climbing robots for maintenance and inspections of vertical structures - A survey of design aspects and technologies
TLDR
This paper deals with different locomotion and adhesion methods for climbing robots and presents characteristics, challenges and applications for these systems. Expand
  • 132
  • 6
The Humanoid Robot ARMAR: Design and Control
TLDR
This paper addresses the mechanism design methodologies, specification, and control strategies of a mobile manipulation system for the humanoid robot ARMAR, that has to work autonomously or interactively in cooperation with humans in dynamic unstructured environments such as workshops or homes. Expand
  • 79
  • 5
  • PDF
Control of facial expressions of the humanoid robot head ROMAN
  • K. Berns, J. Hirth
  • Engineering, Computer Science
  • IEEE/RSJ International Conference on Intelligent…
  • 1 October 2006
TLDR
This paper describes an approach that aims at answering some of these design choices. Expand
  • 79
  • 4
  • PDF
Local Binary Pattern Based Texture Analysis in Real Time using a Graphics Processing Unit (long version)
TLDR
This paper presents a novel implementation of the “Local Binary Pattern” (LBP) texture analysis operator on a consumer-grade graphical processing unit (GPU), which yields a 14 to 18-fold run time reduction compared to standard CPU implementations. Expand
  • 25
  • 4
  • PDF
A learning architecture based on reinforcement learning for adaptive control of the walking machine LAURON
TLDR
The learning of complex control behaviour of autonomous mobile robots is one of the actual research topics. Expand
  • 42
  • 3
Simulation and control of an autonomous bucket excavator for landscaping tasks
TLDR
A novel behavior-based approach for motion control is presented which allows natural trajectories, achieves good environment disturbance compensation behavior, guarantees safety of the movements concerning human beings and structures, and keeps a high extensibility of the system for future improvements. Expand
  • 46
  • 3
  • PDF
Emotional Architecture for the Humanoid Robot Head ROMAN
TLDR
This paper presents a behavior-based emotional control architecture for the humanoid robot head ROMAN to realize the human-like behavior of the robot. Expand
  • 67
  • 2
  • PDF
Adaptive periodic movement control for the four legged walking machine BISAM
TLDR
Coupled neuro-oscillators together with adaptive sensor based reflexes provide a robust and efficient representation for quadrupedal locomotion and support the use of online learning approaches to realize adaptation and optimization. Expand
  • 75
  • 2
CROMSCI: development of a climbing robot with negative pressure adhesion for inspections
TLDR
This paper presents the Climbing RObot with Multiple Sucking Chambers for Inspection, which is designed for inspection of concrete walls. Expand
  • 58
  • 2
  • PDF