Prof. Torsten Kröger

Prof. Dr.-Ing. Torsten Kröger

  • Room 121, Bldg. 40.28

    Engler-Bunte-Ring 8

    D-76131 Karlsruhe

     

Research Interests

    • On-line trajectory generation
    • Hybrid switched-system control
    • Safe human-robot interaction
    • Transfer Learning
    • Robot programming with primitives
    • Distributed real-time systems
    Research Projects
    title contact
    Teaching
    title semester lecturer
    WS 17/18
    WS 17/18
    WS 17/18
    WS 17/18
    SS 2017

    Short Bio

    Torsten is a Full Professor of Computer Science and the Director of Intelligent Process Control and Robotics Laboratory (IPR) of the Institute for Anthropomatics and Robotics (IAR) at Karlsruhe Institute of Technology (KIT). He is also a Visiting Scientist at Stanford University. Torsten received a Master's degree in Electrical Engineering from TU Braunschweig, Germany, in 2002 and a Doctorate degree in Computer Science in 2009 (summa cum laude).

    In 2010, he joined the Stanford AI Lab as a lecturer and research associate. From 2014 to 2017, he was a Staff Roboticist and the Head of the Robotics Software Division at X, an Alphabet entity.

    He conducts research on autonomous robot systems, real-time trajectory generation, perception, sensor fusion, dynamics, system identification, force/torque control, hybrid switched-system control, safe human-robot interaction, humanoid robots, robot programming paradigms, machine learning, and distributed real-time hard- and software systems. Application domains of his research include industrial robotics and automation, mobile service robots, surgical robotics, machine tools, haptic devices, and space telescope control.

    Torsten has been working as a research consultant for Volkswagen AG, KUKA Roboter GmbH, Manz Automation AG, Auris Surgical Robotics, Inc., Redwood Robotics, Inc., and Google, Inc..

    He is also the founder and former CEO of Reflexxes GmbH, a startup working on research and development of real-time motion generation software. In 2014, Reflexxes was acquired by Google, where Torsten became the Head the Robotics Software Division. This included coordinating robotics and machine learning research activities between DeepMind, Google Research, Boston Dynamics, and X.

    Torsten is an editor or an associate editor of multiple IEEE conference proceedings, books, and book series and the Multimedia Editor of the Springer Handbook of Robotics. He received the 2018 IEEE RAS Distinguished Service Award, the 2018 IEEE ICRA Best Associate Editor Award, the 2014 IEEE RAS Early Career Award, the 2011 Heinrich Büssing Award, the 2011 GFFT Award, two fellowships of the German Research Association, and he was a finalist of the 2012 IEEE/IFR IERA Award and the 2012 euRobotics TechTransfer Award

    Publications


    Testing Robot System Safety by Creating Hazardous Human Worker Behavior in Simulation
    Huck, T. P.; Ledermann, C.; Kröger, T.
    2022. IEEE Robotics and automation letters, 7 (2), 770–777. doi:10.1109/LRA.2021.3133612
    Jerk-limited Real-time Trajectory Generation with Arbitrary Target States
    Berscheid, L.; Kroeger, T.
    2021. Robotics: Science and Systems XVII. Ed:: Dylan A. Shell, Robotics: Science and Systems Foundation. doi:10.15607/RSS.2021.XVII.015
    Robot Learning of 6 DoF Grasping using Model-based Adaptive Primitives
    Berscheid, L.; Friedrich, C.; Kröger, T.
    2021. 2021 IEEE International Conference on Robotics and Automation (ICRA), 4474–4480, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA48506.2021.9560901
    Learning Robot Trajectories subject to Kinematic Joint Constraints
    Kiemel, J. C.; Kroger, T.
    2021. 2021 IEEE International Conference on Robotics and Automation (ICRA), 4799–4805, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA48506.2021.9561159
    A Real-Time-Capable Closed-Form Multi-Objective Redundancy Resolution Scheme for Seven-DoF Serial Manipulators
    Wiedmeyer, W.; Altoe, P.; Auberle, J.; Ledermann, C.; Kroeger, T.
    2021. IEEE Robotics and automation letters, 6 (2), 431–438. doi:10.1109/LRA.2020.3045646
    Virtual Adversarial Humans finding Hazards in Robot Workplaces
    Huck, T. P.; Ledermann, C.; Kröger, T.
    2021. 2021 IEEE International Conference on Robotics and Automation (ICRA), Xi’an, China, 30 May-5 June 2021, 3872–3878, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA48506.2021.9561668
    ISER 2018 Editorial
    Xiao, J.; Kröger, T.; Khatib, O.
    2020. International journal of robotics research, 39 (10-11), 1199–1200. doi:10.1177/0278364920960955
    TrueRMA: Learning Fast and Smooth Robot Trajectories with Recursive Midpoint Adaptations in Cartesian Space
    Kiemel, J. C.; Meißner, P.; Kröger, T.
    2020. 2020 IEEE International Conference on Robotics and Automation (ICRA), 4225–4231, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA40945.2020.9196711
    TrueÆdapt: Learning Smooth Online Trajectory Adaptation with Bounded Jerk, Acceleration and Velocity in Joint Space
    Kiemel, J. C.; Weitemeyer, R.; Meißner, P.; Kröger, T.
    2020. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, NV, USA, 24 Oct.-24 Jan. 2021, 5387–5394, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS45743.2020.9341001
    Simulation-based Testing for Early Safety-Validation of Robot Systems
    Huck, T. P.; Ledermann, C.; Kroger, T.
    2020. 2020 IEEE Symposium on Product Compliance Engineering (SPCE Portland), 16-17 November 2020, Portland, OR, USA, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/SPCE50045.2020.9296157
    Self-supervised Learning for Precise Pick-and-place without Object Model
    Berscheid, L.; Meißner, P.; Kröger, T.
    2020. IEEE Robotics and automation letters, 5 (3), 4828–4835. doi:10.1109/LRA.2020.3003865
    Robot-Based Machining of Unmodeled Objects via Feature Detection in Dense Point Clouds
    Hartmann, D.; Mende, M.; Stogl, D.; Hein, B.; Kroger, T.
    2019. IEEE/RSJ International Conference on Intelligent Robots and Systems, November 4 - 8, 2019, The Venetian Macao, Macau, China, 7777–7783, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS40897.2019.8968060
    Improving Data Efficiency of Self-supervised Learning for Robotic Grasping
    Berscheid, L.; Rühr, T.; Kröger, T.
    2019. 2019 International Conference on Robotics and Automation (ICRA), Montreal, QC, Canada, Canada, 20-24 May 2019, 2125–2131, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA.2019.8793952
    Robotics Education and Research at Scale: A Remotely Accessible Robotics Development Platform
    Wiedmeyer, W.; Mende, M.; Hartmann, D.; Bischoff, R.; Ledermann, C.; Kröger, T.
    2019. IEEE International Conference on Robotics and Automation (ICRA), Montreal, CDN, May 20-24, 2019, 3679–3685, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA.2019.8793976
    Evaluation of domain randomization techniques for transfer learning
    Grün, S.; Honinger, S.; Scheikl, P. M.; Hein, B.; Kröger, T.
    2019. 19th International Conference on Advanced Robotics (ICAR), Belo Horizonte, Brasil, December 02-06, 2019, 481–486, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICAR46387.2019.8981654
    Robot Learning of Shifting Objects for Grasping in Cluttered Environments
    Berscheid, L.; Meißner, P.; Kröger, T.
    2019. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 612–618, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS40897.2019.8968042
    General Hand Guidance Framework using Microsoft HoloLens
    Puljiz, D.; Stohr, E.; Riesterer, K. S.; Hein, B.; Kroger, T.
    2019. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 5185–5190, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS40897.2019.8967649
    Study of safe sensor configurations in human robot collaboration
    Baek, W.; Huang, S.; Ledermann, C.; Kröger, T.; Kirsten, R.
    2019. 20. GMA/ITG-Fachtagung Sensoren und Messsysteme, Nürnberg, 25.-26.Juni 2019. Proceedings, 93–99, AMA Service GmbH. doi:10.5162/sensoren2019/1.3.4
    PaintRL: Coverage Path Planning for Industrial Spray Painting with Reinforcement Learning
    Kiemel, J. C.; Yang, P.; Meißner, P.; Kröger, T.
    2019. Workshop on Closing the Reality Gap in Sim2real Transfer for Robotic Manipulation, Freiburg, June 23, 2019
    A Service-Oriented Approach for the Cognitive Factory-A Position Paper
    Colangelo, E.; Hartleif, S.; Kroger, T.; Bauernhansl, T.
    2019. 1st International Conference on Artificial Intelligence in Information and Communication, ICAIIC 2019; Pacific Hotel Okinawa3-6-1Nishi Naha City Okinawa Prefecture Okinawa; Japan; 11 February 2019 through 13 February 2019, 540–542, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICAIIC.2019.8668990
    Model-Free Grasp Planning for Configurable Vacuum Grippers
    You, F.; Mende, M.; Stogl, D.; Hein, B.; Kroger, T.
    2018. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Madrid, E, October 1-5, 2018, 4554–4561, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS.2018.8594227
    12: Industrie 4.0, Vorlesung, WS 2017/18, 02.02.2018
    Kröger, T.; Daniel, K.
    2018. (KIT | Webcast, Ed.). doi:10.5445/DIVA/2018-154
    09: Diskussionsrunde: Dialog über die Zukunft der Vorlesungsaufzeichnung am KIT
    Gidion, G.; Unrau, H.-J.; Schneider, J.; Kröger, T.; Syskowski, P.; Schott, B.
    2018. (Zentrum für Mediales Lernen (ZML), Ed.). doi:10.5445/DIVA/2018-82
    Deep Learning Based 3D Pose Estimation of Surgical Tools Using a RGB-D Camera at the Example of a Catheter for Ventricular Puncture
    Reister, F.; Kunz, C.; Schneider, M.; Kroeger, T.
    2018. 17. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC 2018), Leipzig, Germany, September 13–15, 2018
    Deep Learning Based 3D Pose Estimation of Surgical Tools Using a RGB-D Camera at the Example of a Catheter for Ventricular Puncture
    Reister, F.; Kunz, C.; Schneider, M.; Kroeger, T.
    2018. 17. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie (CURAC), Leipzig, 13 – 15 September 2018, 28–33, Universität Leipzig
    Substitution and Complementation of Production Management Functions with Data Analytics
    Colangelo, E.; Kröger, T.; Bauernhansl, T.
    2018. Procedia CIRP, 72, 191–196. doi:10.1016/j.procir.2018.03.145
    Substitution and Complementation of Production Management Functions with Data Analytics
    Colangelo, E.; Kröger, T.; Bauernhansla, T.
    2018. 51st CIRP Conference on Manufacturing Systems (CIRP CMS 2018), Stockholm, Sweden, May 16–18, 2018
    Dex-net 1.0: A cloud-based network of 3d objects for robust grasp planning using a multi-armed bandit model with correlated rewards
    Mahler, J.; Pokorny, F. T.; Hou, B.; Roderick, M.; Laskey, M.; Aubry, M.; Kohlhoff, K.; Kröger, T.; Kuffner, J.; Goldberg, K.
    2016. Proceedings of the International Conference on Robotics and Automation (ICRA 2016), Stockholm, S, May 16-21, 2016, 1957–1964, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA.2016.7487342
    A depth space approach for evaluating distance to objects
    Flacco, F.; Kröger, T.; De Luca, A.; Khatib, O.
    2015. Journal of intelligent and robotic systems, 80 (1), 7–22. doi:10.1007/s10846-014-0146-2
    Virtual whiskers—Highly responsive robot collision avoidance
    Schlegl, T.; Kröger, T.; Gaschler, A.; Khatib, O.; Zangl, H.
    2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, J, November 3-7, 2013. Conference Digest, 5373–5379, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS.2013.6697134
    Robot task planning with contingencies for run-time sensing
    Gaschler, A.; Petrick, R.; Kröger, T.; Knoll, A.; Khatib, O.
    2013. IEEE International Conference on Robotics and Automation (ICRA) Workshop on Combining Task and Motion Planning, Karlsruhe, May 6-10, 2013
    Robot task and motion planning with sets of convex polyhedra
    Gaschler, A.; Petrick, R.; Kröger, T.; Khatib, O.; Knoll, A.
    2013. Robotics: Science and Systems (RSS) Workshop on Combined Robot Motion Planning and AI Planning for Practical Applications, Berlin, June 24-28, 2013
    Jedibot–experiments in human-robot sword-fighting
    Kröger, T.; Oslund, K.; Jenkins, T.; Torczynski, D.; Hippenmeyer, N.; Rusu, R. B.; Khatib, O.
    2013. Experimental Robotics : The 13th International Symposium on Experimental Robotics, Québec City, CDN, June 18-21, 2012. Ed.: J.P. Desai, 155–166, Springer. doi:10.1007/978-3-319-00065-7_12
    Towards Online Trajectory Generation Considering Robot Dynamics and Torque Limits
    Katzschmann, R.; Kröger, T.; Asfour, T.; Khatib, O.
    2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’13), Tokyo, Japan, November 3-7, 2013, 5644–5651, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS.2013.6697174
    Simple and robust visual servo control of robot arms using an on-line trajectory generator
    Kröger, T.; Padial, J.
    2012. IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, MN, May 14-18, 2012, 4862–4869, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA.2012.6225175
    On-line trajectory generation: Nonconstant motion constraints
    Kröger, T.
    2012. IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, MN, May 14-18, 2012, 2048–2054, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA.2012.6225186
    A depth space approach to human-robot collision avoidance
    Flacco, F.; Kröger, T.; De Luca, A.; Khatib, O.
    2012. IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, MN, May 14-18, 2012, 338–345, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA.2012.6225245
    Robot motion control during abrupt switchings between manipulation primitives
    Kröger, T.; Finkemeyer, B.
    2011. Workshop on Mobile Manipulation at the IEEE International Conference on Robotics and Automation, Shanghai, China, May 9.13, 2011
    Online trajectory generation: Straight-line trajectories
    Kröger, T.
    2011. IEEE transactions on robotics, 27 (5), 1010–1016. doi:10.1109/TRO.2011.2158021
    Opening the door to new sensor-based robot applications—The Reflexxes Motion Libraries
    Kröger, T.
    2011. IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 9.13, 2011, 1–4, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA.2011.5980578
    Parallel stiffness actuators with six degrees of freedom for efficient force/torque control applications
    Osypiuk, R.; Kröger, T.
    2010. Robotic Systems for Handling and Assembly. Ed.: D. Schütz, 275–291, Springer Verlag
    Manipulation primitives—A universal interface between sensor-based motion control and robot programming
    Kröger, T.; Finkemeyer, B.; Wahl, F. M.
    2010. Robotic Systems for Handling and Assembly. Ed.: D. Schütz, 293–313, Springer Verlag
    A middleware for high-speed distributed real-time robotic applications
    Finkemeyer, B.; Kröger, T.; Wahl, F. M.
    2010. Robotic Systems for Handling and Assembly. Ed.: D. Schütz, 193–212, Springer Verlag
    Low-level control of robot manipulators: A brief survey on sensor-guided control and on-line trajectory generation
    Kröger, T.; Wahl, F. M.
    2010. Proceedings of the IEEE ICRA 2010 Workshop on Innovative Robot Control Architectures for Demanding (Research) Applications–How to Modify and Enhance Commercial Controllers, Anchorage, AK, May 3-7, 2010, 46–53
    Low-level control of robot manipulators: distributed open real-time control architectures for Staubli, RX and TX Manipulators
    Kubus, D.; Sommerkorn, A.; Kröger, T.; Maaß, J.; Wahl, F. M.
    2010. Proceedings of the IEEE ICRA 2010 Workshop on Innovative Robot Control Architectures for Demanding (Research) Applications–How to Modify and Enhance Commercial Controllers, Anchorage, AK, May 3-7, 2010, 38–45
    Stabilizing hybrid switched motion control systems with an on-line trajectory generator
    Kröger, T.; Wahl, F. M.
    2010. Proceedings of the 2010 IEEE International Conference on Robotics and Automation, Anchorage, AK, May 3-7, 2010, 4009–4015, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ROBOT.2010.5509428
    The adaptive selection matrix—A key component for sensor-based control of robotic manipulators
    Finkemeyer, B.; Kröger, T.; Wahl, F. M.
    2010. Proceedings of the 2010 IEEE International Conference on Robotics and Automation, Anchorage, AK, May 3-7, 2010, 3855–3862, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ROBOT.2010.5509419
    A three-loop model-following control structure: theory and implementation
    Osypiuk, R.; Kröger, T.
    2010. International journal of control, 83 (1), 97–104. doi:10.1080/00207170903100230
    A manipulator plays Jenga
    Kröger, T.; Finkemeyer, B.; Winkelbach, S.; Eble, L.-O.; Molkenstruck, S.; Wahl, F. M.
    2008. IEEE robotics & automation magazine, 15 (3), 79–84. doi:10.1109/MRA.2008.921547
    On-line estimation of inertial parameters using a recursive total least-squares approach
    Kubus, D.; Kröger, T.; Wahl, F. M.
    2008. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS2008), Nice, F, September 22-26, 2008, 3845–3852, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS.2008.4650672
    Multi-sensor integration and sensor fusion in industrial manipulation: Hybrid switched control, trajectory generation, and software development
    Kröger, T.; Wahl, F. M.
    2008. IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI), Seoul, South Korea, August 20-22, 2008, 411–418, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/MFI.2008.4648030
    12d force and acceleration sensing: A helpful experience report on sensor characteristics
    Kröger, T.; Kubus, D.; Wahl, F. M.
    2008. International Conference on Robotics and Automation (ICRA 2008), Pasadena, CA, May 19-23, 2008, 3455–3462, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ROBOT.2008.4543739
    Improving force control performance by computational elimination of non-contact forces/torques
    Kubus, D.; Kröger, T.; Wahl, F. M.
    2008. International Conference on Robotics and Automation (ICRA 2008), Pasadena, CA, May 19-23, 2008, 2617–2622, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ROBOT.2008.4543607
    Ein transparentes, modulares Kommunikationsframework für die Entwicklung von Software im Automobilbereich
    König, K.; Schöning, V.; Kröger, T.
    2007. AAET - Automatisierungs-, Assistenzsysteme und eingebettete Systeme für Transportmittel : Beiträge zum gleichnamigen 8. Braunschweiger Symposium vom 26.-28. Februar 2007, 199–218, Gesamtzentrum für Verkehr (GZVB)
    Force and acceleration sensor fusion for compliant manipulation control in 6 degrees of freedom
    Kröger, T.; Kubus, D.; Wahl, F. M.
    2007. Advanced robotics, 21 (14), 1603–1616. doi:10.1163/156855307782227435
    MiRPA: Middleware for robotic and process control applications
    Finkemeyer, B.; Kröger, T.; Kubus, D.; Olschewski, M.; Wahl, F. M.
    2007. Workshop on Measures and Procedures for the Evaluation of Robot Architectures and Middleware at the IEEE/RSJ International Conference on Intellegent Robots and Systems, San Diego, CA, October 29 - November 2, 2007, 78–93
    On-line rigid object recognition and pose estimation based on inertial parameters
    Kubus, D.; Kröger, T.; Wahl, F. M.
    2007. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2007), San Diego, CA, October 29 - November 2, 2007, 1402–1408, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS.2007.4399184
    Distributed sensing and prediction of obstacle motions for mobile robot motion planning
    Rennekamp, T.; Homeier, K.; Kröger, T.
    2006. IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, October 9-15, 2006, 4833–4838, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS.2006.282359
    Towards on-line trajectory computation
    Kröger, T.; Tomiczek, A.; Wahl, F. M.
    2006. IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, October 9-15, 2006, 736–741, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS.2006.282622
    6D force and acceleration sensor fusion for compliant manipulation control
    Kröger, T.; Kubus, D.; Wahl, F. M.
    2006. IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, October 9-15, 2006, 2626–2631, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS.2006.281942
    A two-loop implicit force/position control structure, based on a simple linear model: Theory and experiment
    Osypiuk, R.; Kröger, T.; Finkemeyer, B.; Wahl, F. M.
    2006. International Conference on Robotics and Automation (ICRA 2006), Orlando, FL, May 15-19, 2006, 2232–2237, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ROBOT.2006.1642035
    Demonstration of multi-sensor integration in industrial manipulation
    Kröger, T.; Finkemeyer, B.; Winkelbach, S.; Molkenstruck, S.; Eble, L.; Wahl, F. M.
    2006. IEEE International Conference on Robotics and Automation (ICRA 2006), Orlando, FL, May 15-19, 2006
    Executing assembly tasks specified by manipulation primitive nets
    Finkemeyer, B.; Kröger, T.; Wahl, F. M.
    2005. Advanced robotics, 19 (5), 591–611. doi:10.1163/156855305323383811
    Compliant motion programming: The task frame formalism revisited
    Kröger, T.; Finkemeyer, B.; Thomas, U.; Wahl, F. M.
    2004. Mechatronics & Robotics, Aachen, September 13-14, 2004, 1029–1034, Eysoldt. Aachen
    Adaptive implicit hybrid force/pose control of industrial manipulators: Compliant motion experiments
    Kröger, T.; Finkemeyer, B.; Heuck, M.; Wahl, F. M.
    2004. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2004), Sendai, J, September 28 - October 2, 2004, 816–821, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS.2004.1389453
    A task frame formalism for practical implementations
    Kröger, T.; Finkemeyer, B.; Wahl, F. M.
    2004. IEEE International Conference on Robotics and Automation (ICRA 2004), New Orleans, LA, April 26 - May 1, 2004, 5218–5223, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ROBOT.2004.1302546
    Placing of objects in unknown environments
    Finkemeyer, B.; Kröger, T.; Wahl, F. M.
    2003. Proceedings of the 9th IEEE International Conference on Methods and Models in Automation and Robotics (MMAR 2003), Międzyzdroje, PL, August 25-28, 2003. Ed.: R. Kaszynski, 975–980, Wydawnictwo Uczelniane Politechniki
    A new framework for task oriented sensor based robot programming and verification
    Diethers, K.; Firley, T.; Kröger, T.; Thomas, U.
    2003. Proceedings of the 11th International Conference on Advanced Robotics, Coimbra, P, June 30 - July 3, 2003. Ed.: U. Nunes, 1208–1214, Institute of Electrical and Electronics Engineers (IEEE)
    Error-tolerant execution of complex robot tasks based on skill primitives
    Thomas, U.; Finkemeyer, B.; Kröger, T.; Wahl, F. M.
    2003. International Conference on Robotics and Automation (ICRA 2003), Taipei, Taiwan, September 14-19, 2003, 3069–3075, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ROBOT.2003.1242062