Prof. Torsten Kröger

Prof. Dr.-Ing. Torsten Kröger

  • Raum 121, Gebäude 40.28

    Engler-Bunte-Ring 8

    D-76131 Karlsruhe

     

Forschungsinteressen

  • Online Trajektoriengenerierung
  • Hybride Regelung
  • Sichere Mensch-Roboter-Interaktion
  • Transfer Learning
  • Roboterprogrammierung mit Bewegungsprimitiven
  • Verteilte Echtzeitsysteme 
Forschungsprojekte
Titel Ansprechperson
Lehrveranstaltungen
Titel Semester Dozent
WS 17/18
WS 17/18
WS 17/18
WS 17/18
SS 2017

Kurzbiografie

Torsten Kröger ist Leiter am Institut für Anthropomatik und Robotik (IAR) und ist verantwortlich für Intelligente Prozessautomation und Robotik (IPR). Er ist zudem Gastwissenschaftler an der Stanford University.

Herr Kröger hat an der TU Braunschweig Elektrotechnik studiert (Dipl.-Ing.) und 2009 im Fachbereich Informatik promoviert (summa cum laude). 2010 ging er als Dozent und PostDoc an das Stanford AI Lab.

Von 2014 bis 2017 war als Robotiker und zum Schluss als Bereichsleiter für Robotersoftware bei der zum Alphabet-Konzern gehörigen Firma X: The Moonshot Factory tätig.

Seine Kernforschungsinteressen liegen in den Bereichen von autonomen Systemen unter Nutzung von datengetriebenen Ansätzen (z.B. maschinelles Lernen) und deterministische Bewegungsplanung und Regelung von dynamischen Systemen in Echtzeit. Zu den Anwendungsgebieten seiner Forschungsergebnisse zählen u.a. Industrierobotik und -automation, Servicerobotik, Medizinrobotik sowie haptische Eingabegeräte und Weltraumteleskope.

Herr Kröger hat darüber hinaus als Berater für Volkswagen, KUKA, Manz Automation, Auris Surgical Robotics, Redwood Robotics und Google weltweit Erfahrungen sammeln können.

Er ist Gründer und ehemaliger Geschäftsführer der Firma Reflexxes, einem Startup, das Software zur deterministischen Roboterbewegungsplanung in Echtzeit auf den Markt gebracht hat. 2014 wurde Reflexxes von Google übernommen, wo Herr Kröger bis 2017 für Robotersoftware verantwortlich war und u.a. Forschungsaktivitäten zwischen DeepMind, Boston Dynamics, Google Research und X koordiniert hat.

Herr Kröger ist Herausgeber oder Mitherausgeber mehrerer jährlicher IEEE Konferenzbänder, Bücher, und Buchserien. Er ist zudem der Herausgeber der Multimedia Extension des Springer Handbook of Robotics. Herr Kröger erhielt den IEEE RAS Distinguished Service Award (2018), den IEEE ICRA Best Associate Editor Award (2018), den IEEE RAS Early Career Award (2014), den Heinrich Büssing Preis (2011), den GFFT-Preis (2011), und zwei Stipendien der DFG; er war zudem Finalist für den IEEE/IFR IERA Award (2012) und den euRobotics TechTransfer Award (2012).

 

 

 

Publikationsliste


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
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
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
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
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
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
12: Industrie 4.0, Vorlesung, WS 2017/18, 02.02.2018
Kröger, T.; Daniel, K.
2018. (KIT | Webcast, Hrsg.). 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), Hrsg.). doi:10.5445/DIVA/2018-82
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, Schweden, 16.–18. Mai 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