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Prof. Torsten Kröger

Prof. Dr.-Ing. Torsten Kröger

Institutsleiter
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Tel.: +49 721 608-43898
Fax: +49 721 608-47141
torstenLrt5∂kit edu

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 Ansprechpartner


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


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