Philipp Allgeuer

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In recent years, the introduction of affordable platforms in the KidSize class of the Humanoid League has had a positive impact on the performance of soccer robots. The lack of readily available larger robots, however, severely affects the number of participants in Teenand AdultSize and consequently the progress of research that focuses on the challenges(More)
Over the past few years, a number of successful humanoid platforms have been developed, including the Nao [1] and the DARwIn-OP [2], both of which are used by many research groups for the investigation of bipedal walking, fullbody motions, and human-robot interaction. The NimbRo-OP is an open humanoid platform under development by team NimbRo of the(More)
In this paper, two behavior control architectures for autonomous agents in the form of cross-platform C++ frameworks are presented, the State Controller Library and the Behavior Control Framework. While the former is state-based and generalizes the notion of states and finite state machines to allow for multi-action planning, the latter is behavior-based(More)
Over the past few years, soccer-playing humanoid robots have advanced significantly. Elementary skills, such as bipedal walking, visual perception, and collision avoidance have matured enough to allow for dynamic and exciting games. When two robots are fighting for the ball, they frequently push each other and balance recovery becomes crucial. In this(More)
The use of standard robotic platforms can accelerate research and lower the entry barrier for new research groups. There exist many affordable humanoid standard platforms in the lower size ranges of up to 60 cm, but larger humanoid robots quickly become less affordable and more difficult to operate, maintain and modify. The igus® Humanoid Open Platform is a(More)
The parameterisation of rotations in three dimensional Euclidean space is an area of applied mathematics that has long been studied, dating back to the original works of Euler in the 18<sup>th</sup> century. As such, many ways of parameterising a rotation have been developed over the years. Motivated by the task of representing the orientation of a(More)
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