Publications

Peer-Reviewed Journals

  • Nikolaus Vahrenkamp, Eduard Koch, Mirko Wächter and Tamim Asfour, Planning High-Quality Grasps using Mean Curvature Object Skeletons, IEEE Robotics and Automation Letters (RA-L), 2018 (accepted)
  • Simon Ottenhaus, Lukas Kaul, Nikolaus Vahrenkamp and Tamim Asfour, Active Tactile Exploration Based on Cost-Aware Information Gain Maximization, International Journal of Humanoid Robotics, 2018 (accepted)
  • Adrian Knobloch, Nikolaus Vahrenkamp, Mirko Wächter and Tamim Asfour, Distance-Aware Dynamically Weighted Roadmaps for Motion Planning in Unknown Environments, IEEE Robotics and Automation Letters (RA-L),2018 (accepted)
  • Christian Mandery, Ömer Terlemez, Martin Do, Nikolaus Vahrenkamp, and Tamim Asfour. Unifying representations and large-scale whole-body motion databases for studying human motion. IEEE Transactions on Robotics – Special Issue on Movement Science for Humans and Humanoids: Methods and Applications, pages 796-809, 2016.
  • Mirko Wächter, Simon Ottenhaus, Manfred Kröhnert, Nikolaus Vahrenkamp, and Tamim Asfour. The ArmarX statechart concept: Graphical programming of robot behaviour. Frontiers: Special Issue on Software Architectures for Humanoid Robotics, 2016.
  • Peter Kaiser, Nikolaus Vahrenkamp, Fabian Schültje, Júlia Borràs, and Tamim Asfour. Extraction of whole-body affordances for loco-manipulation tasks. International Journal of Humanoid Robotics, 12(3), 2015.
  • Nikolaus Vahrenkamp and Tamim Asfour. Representing the robot’s workspace through constrained manipulability analysis. Autonomous Robots, 38(1):17–30, 2015.
  • Nikolaus Vahrenkamp, Mirko Wächter, Manfred Kröhnert, Kai Welke, and Tamim Asfour. The robot software framework ArmarX. Information Technology (it), 57(2):99–111, 2015.
  • Tamim Asfour, Nikolaus Vahrenkamp, David Schiebener, Martin Do, Markus Przybylski, Kai Welke, Julian Schill, and Rüdiger Dillmann. ARMAR-III: Advances in Humanoid Grasping and Manipulation. Journal of the Robotics Society of Japan, 31(4):341–346, 2013.
  • Christian Böge, Nikolaus Vahrenkamp, Tamim Asfour, and Rüdiger Dillmann. Visual servoing for single and dual arm manipulation tasks in humanoid robots. Information Technology (it), 60:309–317, 2012.
  • Nikolaus Vahrenkamp, Tamim Asfour, and Rüdiger Dillmann. Efficient inverse kinematics computation based on reachability analysis. International Journal of Humanoid Robotics, 9(4), 2012.
  • Nikolaus Vahrenkamp, Tamim Asfour, and Rüdiger Dillmann. Simultaneous grasp and motion planning. IEEE Robotics and Automation Magazine, 19:43–57, 2012.
  • Tamim Asfour, Martin Do, Kai Welke, Alexander Bierbaum, Pedram Azad, Nikolaus Vahrenkamp, Stefan Gärtner, Ales Ude, and Rüdiger Dillmann. From sensorimotor primitives to manipulation and imitation strategies in humanoid robots. Springer Tracts in Advanced Robotics, 70(STAR):363–378, 2011.
  • Tamim Asfour, Pedram Azad, Nikolaus Vahrenkamp, Kristian Regenstein, Alexander Bierbaum, Kai Welke, Joachim Schröder, and Rüdiger Dillmann.
    Toward humanoid manipulation in human-centred environments. Robot. Auton. Syst., 56(1):54–65, 2008.
  • Bertram Klimmek, Hartmut Prautzsch, and Nikolaus Vahrenkamp. Shadow metamorphosis. Computing, 79(2):325–335, 2007.

Peer-Reviewed Conferences

  • Philipp Schmidt, Nikolaus Vahrenkamp, Mirko Wächter and Tamim Asfour, Grasping of Unknown Objects using Deep Convolutional Neural Networks based on Depth Images, IEEE International Conference on Robotics and Automation (ICRA), May, 2018 (accepted)
  • Fabian Paus, Peter Kaiser, Nikolaus Vahrenkamp and Tamim Asfour, A Combined Approach for Robot Placement and Coverage Path Planning for Mobile Manipulation, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pp. 6285 – 6292, September, 2017
  • Nikolaus Vahrenkamp, Leonard Westkamp, Natsuki Yamanobe, Eren Aksoy and Tamim Asfour, Part-based Grasp Planning for Familiar Objects, IEEE/RAS International Conference on Humanoid Robots (Humanoids), pages 919-925, 2016
  • Nikolaus Vahrenkamp, Harry Arnst, Mirko Wächter, David Schiebener, Panagiotis Sotiropoulos and Michal Kowalik and Tamim Asfour, Workspace Analysis for Planning Human-Robot Interaction Tasks, IEEE/RAS International Conference on Humanoid Robots (Humanoids), pages 1298-1303, 2016
  • David Schiebener, Andreas Schmidt, Nikolaus Vahrenkamp and Tamim Asfour, Heuristic 3D Object Shape Completion based on Symmetry and Scene Context, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016
  • Manfred Kröhnert, Raphael Grimm, Nikolaus Vahrenkamp, and Tamim Asfour. Resource-aware motion planning. In IEEE International Conference on Robotics and Automation (ICRA), pages 32-39, 2016.
  • Cornelius Goldbeck, Lukas Kaul, Nikolaus Vahrenkamp, Flroentin Wörgötter, Jan Braun and Tamim Asfour, Two Ways of Walking: Contrasting a Reflexive Neuro-Controller and a LIP-Based ZMP-Controller on the Humanoid Robot ARMAR-4, IEEE/RAS International Conference on Humanoid Robots (Humanoids), pages 966-972, 201
  • Simon Ottenhaus, Martin Miller, David Schiebener, Nikolaus Vahrenkamp and Tamim Asfour, Local Implicit Surface Estimation for Haptic Exploration, IEEE/RAS International Conference on Humanoid Robots (Humanoids), pages 850-856, 2016
  • Samuel Rader, Lukas Kaul, Hannes Fischbach, Nikolaus Vahrenkamp and Tamim Asfour, Design of a High-Performance Humanoid Dual Arm System with Inner Shoulder Joints, IEEE/RAS International Conference on Humanoid Robots (Humanoids), pages 523-529, 2016
  • Peter Kaiser, Markus Grotz, Eren Aksoy, Martin Do, Nikolaus Vahrenkamp, and Tamim Asfour. Validation of whole-body locomanipulation affordances for pushability and liftability. In IEEE/RAS International Conference on Humanoid Robots (Humanoids), 2015.
  • Christian Mandery, Ömer Terlemez, Martin Do, Nikolaus Vahrenkamp, and Tamim Asfour. The KIT whole-body human motion database. In International Conference on Advanced Robotics (ICAR), pages 329–336, 2015.
  • Nikolaus Vahrenkamp, Dominik Muth, Peter Kaiser, and Tamim Asfour. Ik-Map: An enhanced workspace representation to support inverse kinematics solvers. In IEEE/RAS International Conference on Humanoid Robots (Humanoids), 2015.
  • Peter Kaiser, David Gonzalez-Aguirre, Fabian Schültje, Júlia Borràs, Nikolaus Vahrenkamp, and Tamim Asfour. Extracting whole-body affordances from multimodal exploration. In IEEE/RAS International Conference on Humanoid Robots (Humanoids), pages 1036–1043, 2014.
  • Manfred Kröhnert, Nikolaus Vahrenkamp, Johny Paul, Walter Stechele, and Tamim Asfour. Resource prediction for humanoid robots. In Workshop on Resource Awareness and Adaptivity in Multi-Core Computing (Racing 2014), pages 22–28, 2014.
  • David Schiebener, Nikolaus Vahrenkamp, and Tamim Asfour. Visual collision detection for corrective reactions during grasp execution on a humanoid robot. In IEEE/RAS International Conference on Humanoid Robots (Humanoids), pages 105–111, 2014.
  • Ömer Terlemez, Stefan Ulbrich, Christian Mandery, Martin Do, Nikolaus Vahrenkamp, and Tamim Asfour. Master motor map (MMM) – framework and toolkit for capturing, representing, and reproducing human motion on humanoid robots. In IEEE/RAS International Conference on Humanoid Robots (Humanoids), pages 894–901, 2014.
  • Nikolaus Vahrenkamp, Mirko Wächter, Manfred Kröhnert, Peter Kaiser, Kai Welke, and Tamim Asfour. High-Level Robot Control with ArmarX. In GI Annual German Conference on Informatics, 2014.
  • Nikolaus Vahrenkamp, Tamim Asfour, and Rüdiger Dillmann. Robot placement based on reachability inversion. In IEEE International Conference on Robotics and Automation (ICRA), 2013.
  • Kai Welke, Nikolaus Vahrenkamp, Mirko Wächter, Manfred Kröhnert, and Tamim Asfour. The ArmarX framework – supporting high level robot programming through state disclosure. In GI Annual German Conference on Informatics, volume 220 of LNI, pages 2823–2837. GI, 2013.
  • Peter Kaiser, Dmitry Berenson, Nikolaus Vahrenkamp, Tamim Asfour, Rüdiger Dillmann, and Siddhartha Srinivasa. Constellation – an algorithm for finding robot configurations that satisfy multiple constraints. In IEEE International Conference on Robotics and Automation (ICRA), pages 436–443, 2012.
  • Nikolaus Vahrenkamp, Manfred Kröhnert, Stefan Ulbrich, Tamim Asfour, Giorgio Metta, Rüdiger Dillmann, and Giulio Sandini. Simox: A robotics toolbox for simulation, motion and grasp planning. In International Conference on Intelligent Autonomous Systems (IAS), pages 585–594, 2012.
  • Nikolaus Vahrenkamp, Giorgio Metta, Tamim Asfour, Rüdiger Dillmann, and Giulio Sandini. Manipulability analysis. In IEEE/RAS International Conference on Humanoid Robots (Humanoids), pages 568–573, 2012.
  • Stefan Ulbrich, Daniel Kappler, Tamim Asfour, Nikolaus Vahrenkamp, Alexander Bierbaum, Markus Przybylski, and Rüdiger Dillmann. The opengrasp benchmarking suite: An environment for the comparative analysis of grasping and dexterous manipulation. In IEEE International Conference on Intelligent Robots and Systems (IROS), pages 1761–1767, 2011.
  • Nikolaus Vahrenkamp, Peter Kaiser, Tamim Asfour, and Rüdiger Dillmann. RDT+: A Parameter-free Algorithm for Exact Motion Planning. In IEEE International Conference on Robotics and Automation (ICRA), pages 715–722, 2011.
  • Nikolaus Vahrenkamp, Markus Przybylski, Tamim Asfour, and Rüdiger Dillmann. Bimanual grasp planning. In IEEE/RAS International Conference on Humanoid Robots (Humanoids), pages 493–499, Bled, Slovenia, 2011.
  • Nikolaus Vahrenkamp, Martin Do, Tamim Asfour, and Rüdiger Dillmann. Integrated grasp and motion planning. In IEEE International Conference on Robotics and Automation (ICRA), pages 2883–2888, 2010.
  • Nikolaus Vahrenkamp, Enrico Kuhn, Tamim Asfour, and Rüdiger Dillmann. Planning multi-robot grasping motions. In IEEE/RAS International Conference on Humanoid Robots (Humanoids), pages 593–600, Nashville, USA, 2010.
  • Tamim Asfour, Rüdiger Dillmann, Martin Do, Alexander Bierbaum, Kai Welke, Pedram Azad, Nikolaus Vahrenkamp, Steven Wieland, and David Gonzalez. From sensorimotor primitives to manipulation and imitation strategies in humanoid robots. In 14th International Symposium on Robotics Research (ISRR 2009), pages 363–378, 2009.
  • Kai Huebner, Kai Welke, Markus Przybylski, Nikolaus Vahrenkamp, Tamim Asfour, Danica Kragic, and Rüdiger Dillmann. Grasping known objects with humanoid robots: A box-based approach. In Advanced Robotics, 2009. ICAR 2009. International Conference on, pages 1–6, 2009.
  • Nikolaus Vahrenkamp, Anatoli Barski, Tamim Asfour, and Rüdiger Dillmann. Planning and execution of grasping motions on a humanoid robot. In IEEE/RAS International Conference on Humanoid Robots (Humanoids), pages 639–645, 2009.
  • Nikolaus Vahrenkamp, Dmitry Berenson, Tamim Asfour, James Kuffner, and Rüdiger Dillmann. Humanoid motion planning for dual-arm manipulation and re-grasping tasks. In IEEE International Conference on Intelligent Robots and Systems (IROS), pages 2464–2470, 2009.
  • Nikolaus Vahrenkamp, Christian Böge, Kai Welke, Tamim Asfour, Jürgen Walter, and Rüdiger Dillmann. Visual servoing for dual arm motions on a humanoid robot. In IEEE/RAS International Conference on Humanoid Robots (Humanoids), pages 208–214, 2009.
  • Steven Wieland, David Gonzalez-Aguirre, Nikolaus Vahrenkamp, Tamim Asfour, and Rüdiger Dillmann. Combining force and visual feedback for physical interaction tasks in humanoid robots. In IEEE/RAS International Conference on Humanoid Robots (Humanoids), pages 439–446, 2009.
  • Thorsten Blum, Nikolaus Vahrenkamp, Kai Welke, Ole Ciliox, Richard Gutleber, and Thomas Hawranke. Space invaders 360: An interactive multiplayer gaming installation that makes you move. In Proceedings of the 12th International Conference on Entertainment and Media in the Ubiquitous Era, MindTrek ’08, pages 39–43. ACM, 2008.
  • Nikolaus Vahrenkamp, Christian Scheurer, Tamim Asfour, James J. Kuffner, and Rüdiger Dillmann. Adaptive motion planning for humanoid robots. In IEEE International Conference on Intelligent Robots and Systems (IROS), pages 2127–2132, 2008.
  • Nikolaus Vahrenkamp, Steven Wieland, Pedram Azad, David Gonzalez, Tamim Asfour, and Rüdiger Dillmann. Visual servoing for humanoid grasping and manipulation tasks. In IEEE/RAS International Conference on Humanoid Robots (Humanoids), pages 406–412, 2008.
  • Philipp Michel, Christian Scheurer, James Kuffner, Nikolaus Vahrenkamp, and Rüdiger Dillmann. Planning for robust execution of humanoid motions using future perceptive capability. In IEEE International Conference on Intelligent Robots and Systems (IROS), pages 3223–3228, 2007.
  • Nikolaus Vahrenkamp, Tamim Asfour, and Rüdiger Dillmann. Efficient motion planning for humanoid robots using lazy collision checking and enlarged robot models. In IEEE International Conference on Intelligent Robots and Systems (IROS), pages 3062–3067, 2007.
  • Tamim Asfour, Kristian Regenstein, Pedram Azad, Joachim Schröder, Alexander Bierbaum, Nikolaus Vahrenkamp, and Rüdiger Dillmann. ARMAR-III: An integrated humanoid platform for sensory-motor control. In IEEE/RAS International Conference on Humanoid Robots (Humanoids), pages 169–175, 2006.

Miscellaneous

  • Tamim Asfour, Rüdiger Dillmann, Nikolaus Vahrenkamp, Martin Do, Mirko Wächter, Christian Mandery, Peter Kaiser, Manfred Kröhnert and Markus Grotz, The Karlsruhe ARMAR Humanoid Robot Family. In A. Goswami, P. Vadakkepat (eds), Humanoid Robotics: A Reference, Springer Netherlands, 2016
  • Markus Przybylski, Nikolaus Vahrenkamp, Tamim Asfour, and Rüdiger Dillmann. Grasp and motion planning for humanoid robots. In Giuseppe Carbone (eds), Grasping in Robotics, pages 329–359. Springer, 2012.
  • Nikolaus Vahrenkamp. The iCub Grasping Pipeline – Motion and Grasp Planning with Simox. Technical report, Instituto Italiano di Tecnologia, 2012.
  • Nikolaus Vahrenkamp. Bewegungsplanung und sensorgestützte Ausführung für das Greifen auf humanoiden Robotern. PhD thesis, Karlsruhe Institute of Technology (KIT), 2011.
  • Nikolaus Vahrenkamp, Tamim Asfour, and Rüdiger Dillmann. Efficient motion and grasp planning for humanoid robots. In Kensuke Harada, Eiichi Yoshida, and Kazuhito Yokoi, editors, Motion Planning for Humanoid Robots, pages 129–160. Springer, 2010.
  • Nikolaus Vahrenkamp, Tamim Asfour, and Rüdiger Dillmann. Simox: A Simulation and Motion Planning Toolbox for C++. Technical report, Institute for Anthropomatics, Karlsruhe Institute of Technology (KIT), 2010.
  • Wolfram Burgard, Rüdiger Dillmann, Christian Plagemann, and Nikolaus Vahrenkamp, editors. The 10th International Conference on Intelligent Autonomous Systems. IOS Press, 2008.
  • Nikolaus Vahrenkamp. Metamorphosen durch Schattenwürfe. Master’s thesis, University of Karlsruhe, Department for Computer Science, 2005.