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Niels Dehio

Dr.-Ing. Niels Dehio

Wissenschaftlicher Mitarbeiter
Raum: 102
Tel.: +49 721 608-47582
Fax: +49 721 608-47141
niels dehioGau8∂kit edu

Zur Person

January 2015: Niels Dehio received the M. Sc. degree in computer science from Bielefeld University, Germany.

Afterwards he contributed to the EU-project CogIMon (Horizon 2020) where he particularly focused on robots compliantly interacting with humans through forces.

In October 2018, his Ph.D. dissertation was awarded “summa cum laude” by the Technical University Braunschweig, Germany. Current research interests include model-based control of multiple prioritized objectives for highly redundant robots in contact situation.

In January 2019 Niels Dehio started a Postdoc at KIT-IPR.

Research interests:
•    Machine Learning and Robotics
•    Model-Based Control
•    Robot Learning
•    Optimization Methods
•    Motion Generation




Compliant Humanoids Moving Toward Rehabilitation Applications: Transparent Integration of Real-Time Control, Whole-Body Motion Generation, and Virtual Reality.
Mohammadi, P.; Mingo Hoffman, E.; Dehio, N.; Malekzadeh, M. S.; Giese, M.; Tsagarakis, N. G.; Steil, J. J.
2019. IEEE robotics & automation magazine, 26 (4), 83–93. doi:10.1109/MRA.2019.2940970
Dynamically-consistent Generalized Hierarchical Control.
Dehio, N.; Steil, J. J.
2019. 2019 IEEE International Conference on Robotics and Automation (ICRA 2019), May 20-24, 2019, Montreal, Canada, IEEE
Prioritized Multi-Objective Robot Control. Dissertation.
Dehio, N.
Continuously Shaping Projections and Operational Space Tasks.
Dehio, N.; Kubus, D.; Steil, J. J.
2018. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 5995–6002, IEEE. doi:10.1109/IROS.2018.8593400
Optimization of Manipulator Base Placements for Multi-Arm Grasping.
Dehio, N.; Steil, J. J.
2018. Proc. Int. Workshop on Examining Sensing Modalities for Robust and Dexterous Object Manipulation
Modeling and Control of Multi-Arm and Multi-Leg Robots: Compensating for Object Dynamics During Grasping.
Dehio, N.; Smith, J.; Wigand, D. L.; Xin, G.; Lin, H.-C.; Steil, J. J.; Mistry, M.
2018. 2018 IEEE International Conference on Robotics and Automation (ICRA), 294–301, IEEE. doi:10.1109/ICRA.2018.8462872
A Projected Inverse Dynamics Approach for Multi-Arm Cartesian Impedance Control.
Lin, H.-C.; Smith, J.; Babarahmati, K. K.; Dehio, N.; Mistry, M.
2018. 2018 IEEE International Conference on Robotics and Automation (ICRA), 1–5, IEEE. doi:10.1109/ICRA.2018.8461202
Domain-Specific Language Modularization Scheme Applied to a Multi-Arm Robotics Use-Case.
Wigand, D. L.; Nordmann, A.; Dehio, N.; Mistry, M.; Wrede, S.
2017. Journal of Software Engineering for Robotics, 8 (1), 45–64. doi:10.6092/JOSER 2017_08_01_p45
A Comparison of Null-space Projection and Mixture of Torque Controllers for Motion Generation.
Dehio, N.; Steil, J. J.
2016. Proc. 9th Int. Workshop on Human-Friendly Robotics
Continuous task-priority rearrangement during motion execution with a mixture of torque controllers.
Dehio, N.; Reinhart, R. F.; Steil, J. J.
2016. 2016 IEEE-RAS 16th International Conference on Humanoid Robots (Humanoids), 264–270, IEEE. doi:10.1109/HUMANOIDS.2016.7803287
Multiple task optimization with a mixture of controllers for motion generation.
Dehio, N.; Reinhart, R. F.; Steil, J. J.
2015. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 6416–6421, IEEE. doi:10.1109/IROS.2015.7354294