Stefan Waldherr

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Service robotics is currently a pivotal research area in robotics, with enormous societal potential. Since service robots directly interact with people, nding \natural" and easy-to-use user interfaces is of fundamental importance. While past work has predominately focussed on issues such as navigation and manipulation, relatively few robotic systems are(More)
This report introduces Bayesian logic networks (BLNs), a statistical relational knowledge representation formalism that is geared towards practical applicability. A BLN is a meta-model for the construction of a probability distribution from local probability distribution fragments (as in a Bayesian network) and global logical constraints formulated in(More)
For mobile robots to assist people in everyday life, they must be easy to instruct. This paper describes a gesture-based interface for human robot interaction, which enables people to instruct robots through easy-to-perform arm gestures. Such gestures might be static pose gestures, which involve only a specific configuration of the person’s arm, or they(More)
Since a variety of recent changes in both robotic hardware and software suggests that service robots will soon become possible, to nd \natural" ways of communication between human and robots is of fundamental importance for the robotic eld. This paper describes a gesture-based interface for human-robot interaction, which enables people to instruct robots(More)
In this paper, we define a robustness measure for gene regulation networks, which allows to quantify how well a given model structure can reproduce a desired steady-state pattern in the absence of detailed knowledge about the kinetic mechanisms and parameters. To develop this measure, a modeling framework is introduced, which is able to represent the(More)