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Prof. Torsten Kröger

Prof. Dr.-Ing. Torsten Kröger

Director, Head of Institute
office hours: demand
phone: +49 721 608-43898
fax: +49 721 608-47141
torstenHwg5∂kit edu

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


    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, Germany, 13 – 15 September 2018
    Deep Learning Based 3D Pose Estimation of Surgical Tools Using a RGB-D Camera at the Example of a Catheter for Ventricular Puncture [in press].
    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
    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, Stockholm, S, 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, IEEE, Piscataway (NJ). 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, IEEE, Piscataway (NJ). 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, Cham. 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, IEEE, Piscataway (NJ). 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, IEEE, Piscataway (NJ). 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, IEEE, Piscataway (NJ). 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, IEEE, Piscataway (NJ). 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, IEEE, Piscataway (NJ). 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, Berlin
    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, Berlin
    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, Berlin
    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, IEEE, Piscataway (NJ). 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, IEEE, Piscataway (NJ). 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, IEEE, Piscataway (NJ). 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, IEEE, Piscataway (NJ). 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, IEEE, Piscataway (NJ). 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, IEEE, Piscataway (NJ). 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), Braunschweig
    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, IEEE, Piscataway (NJ). 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, IEEE, Piscataway (NJ). 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, IEEE, Piscataway (NJ). 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, IEEE, Piscataway (NJ). 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, IEEE, Piscataway (NJ). 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, IEEE, Piscataway (NJ). 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, IEEE, Piscataway (NJ). 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, Szczecin
    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, IEEE, Piscataway (NJ)
    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, IEEE, Piscataway (NJ). doi:10.1109/ROBOT.2003.1242062