University of Freiburg / Institute for Computer Science / Humanoid Robots
University of Bonn / Computer Science / VI: Autonomous Intelligent Systems

 Publications
Jörg Stückler and Sven Behnke
"Orthogonal Wall Correction for Visual Motion Estimation"
In Proceedings of the IEEE International Conference on Robotics and Automation, (ICRA), to appear May 2008.
Cyrill Stachniss, Maren Bennewitz, Wolfram Burgard, and Sven Behnke
"How to Learn Accurate Grid Maps with a Humanoid"
In Proceedings of the IEEE International Conference on Robotics and Automation, (ICRA), to appear May 2008.
Felix Faber and Sven Behnke
"Stochastic Optimization of Bipedal Walking using Gyro Feedback and Phase Resetting"
In Proceedings of the International Conference on Humanoid Robots (Humanoids), Pittsburgh, USA, December 2007.
Sven Behnke, Jörg Stückler, Michael Schreiber, Hannes Schulz, Martin Böhnert, and Konrad Meier
"Hierarchical Reactive Control for a Team of Humanoid Soccer Robots"
In Proceedings of the International Conference on Humanoid Robots (Humanoids), Pittsburgh, USA, December 2007.
Teodora Vatahska, Maren Bennewitz, and Sven Behnke
"Feature-based Head Pose Estimation from Images"
In Proceedings of the International Conference on Humanoid Robots (Humanoids), Pittsburgh, USA, December 2007.
Hannes Schulz, Hauke Strasdat, and Sven Behnke
"A Ball Is Not Just Orange: Using Color and Luminance to Classify Regions of Interest"
To appear in Proceedings of The Second Workshop on Humanoid Soccer Robots @ Humanoids 2007, Pittsburgh, USA, December 2007.
Maren Bennewitz, Felix Faber, Dominik Joho, and Sven Behnke
"Fritz - A Humanoid Communication Robot"
In Proceedings of 16thd IEEE International Symposium on Robot & Human Interactive Communication (RO-MAN), pp. 1072-1077, Jeju Island, Korea, August 2007.
Sven Behnke, Jörg Stückler, Hauke Strasdat, and Michael Schreiber
"Hierarchical Reactive Control for Soccer Playing Humanoid Robots"
In M. Hackel (editor): Humanoid Robots, Human-like Machines. pp. 625-642, I-Tech, 2007.
Maren Bennewitz, Felix Faber, Dominik Joho, and Sven Behnke
"Intuitive Multimodal Interaction with Communication Robot Fritz"
In M. Hackel (editor): Humanoid Robots, Human-like Machines. pp. 613-624, I-Tech, 2007.
Sven Behnke, Michael Schreiber, Jörg Stückler, Hauke Strasdat, and Konrad Meier
"NimbRo KidSize 2007 Team Description"
In RoboCup 2007 Humanoid League Team Descriptions, Atlanta, July 2007.
Sven Behnke, Michael Schreiber, Jörg Stückler, Hauke Strasdat, and Konrad Meier
"NimbRo TeenSize 2007 Team Description"
In RoboCup 2007 Humanoid League Team Descriptions, Atlanta, July 2007.
Dominik Joho, Maren Bennewitz, and Sven Behnke
"Pitch Estimation using Models of Voiced Speech on Three Levels"
In Proceedings of 32nd International Conference on Acoustics, Speech, and Signal Processing (ICASSP), Honululu, Hawai'i, pp. 1077-1080, April 2007.
Sergio Roa, Maren Bennewitz, and Sven Behnke
"Fundamental frequency estimation based on pitch-scaled harmonic filtering"
In Proceedings of 32nd International Conference on Acoustics, Speech, and Signal Processing (ICASSP), Honululu, Hawai'i, pp. 397-400, April 2007.
Sven Behnke, Michael Schreiber, Jörg Stückler, Reimund Renner, and Hauke Strasdat
"See, walk, and kick: Humanoid robots start to play soccer"
In Proceedings of IEEE-RAS International Conference on Humanoid Robots (Humanoids'06), Genova, Italy, pp. 497-503, December 2006.
Jörg Stückler and Sven Behnke
"Soccer Behaviors for Humanoid Robots"
In Proceedings of the Workshop on Humanoid Soccer Robots of the IEEE-RAS International Conference on Humanoid Robots (Humanoids 2006), Genoa, Italy, pp. 62-70, December 2006.
Sven Behnke and Michael Schreiber
"Digital Position Control for Analog Servos"
In Proceedings of the Workshop on Humanoid Soccer Robots of the IEEE-RAS International Conference on Humanoid Robots (Humanoids 2006), Genoa, Italy, pp. 56-61, December 2006.
Sven Behnke
"See, Walk, and Kick: Humanoid Robots Start to Play Soccer"
International Journal of Computer Science in Sport, Volume 5, Edition 2, pp. 47-51, 2006.
Reimund Renner and Sven Behnke
"Instability Detection and Fall Avoidance for a Humanoid using Attitude Sensors and Reflexes"
In Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Beijing, pp. 2967-2973, October 2006.
Sven Behnke
"Robot Competitions - Ideal Benchmarks for Robotics Research"
In Proceedings IROS-2006 Workshop on Benchmarks in Robotics Research, Beijing, October 2006.
Sven Behnke
"Playing Soccer with Humanoid Robots"
KI - Zeitschrift Künstliche Intelligenz, 03/2006, pp. 51-65.
Tobias Latzke, Sven Behnke, and Maren Bennewitz
"Imitative Reinforcement Learning for Soccer Playing Robots"
In Proceedings of The 10th RoboCup International Symposium, Bremen, Germany, June 2006.
Hauke Strasdat, Maren Bennewitz, and Sven Behnke
"Multi-Cue Localization for Soccer Playing Humanoid Robots"
In Proceedings of The 10th RoboCup International Symposium, Bremen, Germany, June 2006.
Sven Behnke, Michael Schreiber, Maren Bennewitz, Jörg Stückler, Hauke Strasdat, and Johannes Schwenk
"Designing a Team of Soccer-Playing Humanoid Robots"
Proceedings of 37th International Symposium on Robotics (ISR 2006) and 4th German Conference on Robotics (ROBOTIK 2006), Munich, Germany, May 2006.
 
Jörg Stückler and Sven Behnke
"On-line Optimization of Dynamic Walking Using Stochastic Policy Gradient Ascent"
Proceedings of: Dynamic Walking 2006, p. 29, Ann Arbor, MI, May 2006.
 
Maren Bennewitz, Cyrill Stachniss, Wolfram Burgard, and Sven Behnke
"Metric Localization with Scale-Invariant Visual Features using a Single Perspective Camera"
In the Proceedings of the European Robotics Symposium (EUROS 2006), Palermo, Italy, March 2006.
 
Jörg Stückler, Johannes Schwenk, and Sven Behnke
"Getting Back on Two Feet: Reliable Standing-up Routines for a Humanoid Robot"
In Proceedings of 9th International Conference on Intelligent Autonomous Systems (IAS-9), Tokyo, Japan, pp. 676-685, March 2006.
 
Sven Behnke, Michael Schreiber, Jörg Stückler, Hauke Strasdat, and Maren Bennewitz
"NimbRo KidSize 2006 Team Description"
In RoboCup 2006 Humanoid League Team Descriptions, Bremen, June 2006.
 
Sven Behnke, Michael Schreiber, Jörg Stückler, Hauke Strasdat, and Maren Bennewitz
"NimbRo TeenSize 2006 Team Description"
In RoboCup 2006 Humanoid League Team Descriptions, Bremen, June 2006.
 
Maren Bennewitz, Felix Faber, Dominik Joho, Michael Schreiber, and Sven Behnke
"Towards a Humanoid Museum Guide Robot that Interacts with Multiple Persons"
In Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids2005), Tsukuba, Japan, December 2005.
 
Sven Behnke
"Humanoid Soccer Robots"
it - Information Technology, 47(5):292-298, Special Issue 'Autonome Fußball-Roboter', Oldenbourg Wissenschaftsverlag, October 2005.
 
Sven Behnke
"Human-Like Walking using Toes Joint and Straight Stance Leg"
In Proceedings of 3rd International Symposium on Adaptive Motion in Animals and Machines (AMAM2005) – Ilmenau, September 2005.
 
Maren Bennewitz, Felix Faber, Dominik Joho, Michael Schreiber, and Sven Behnke
"Integrating Vision and Speech for Conversations with Multiple Persons"
In Proceedings of the International Conference on Intelligent Robots and Systems (IROS05),
August 2005, Edmonton / Canada.
 
Sven Behnke, Jürgen Müller, and Michael Schreiber
"Toni: A Soccer Playing Humanoid Robot"
In I. Noda, A. Jacoff, A. Bredenfeld, and Y. Takahashi, editors, RoboCup-2005: Robot Soccer World Cup IX, pp. 59-70, Lecture Notes in Artificial Intelligence, LNAI 4020, Springer, 2006. 
 
Sven Behnke, Jürgen Müller, and Michael Schreiber
"Playing Soccer with RoboSapien"
In I. Noda, A. Jacoff, A. Bredenfeld, and Y. Takahashi, editors, RoboCup-2005: Robot Soccer World Cup IX, pp. 36-48, Lecture Notes in Artificial Intelligence, LNAI 4020, Springer, 2006.
 
Maren Bennewitz, Felix Faber, Dominik Joho, Michael Schreiber, and Sven Behnke
"Multimodal Conversation between a Humanoid Robot and Multiple Persons"
In Proceedings of the Workshop on Modular Construction of Human-Like Intelligence at the
Twentieth National Conference on Artificial Intelligence (AAAI05),
July 2005, Pittsburgh / USA.
 
Maren Bennewitz, Felix Faber, Dominik Joho, Michael Schreiber, and Sven Behnke
"Enabling a Humanoid Robot to Interact with Multiple Persons"
In Proceedings of 1st International Conference on Dextrous Autonomous Robots and Humanoids (DARH05),
May 2005, Yverdon-les-Bains / Switzerland.
 
Sven Behnke, Jürgen Müller, and Michael Schreiber
"Using Handheld Computers to Control Humanoid Robots"
In Proceedings of 1st International Conference on Dextrous Autonomous Robots and Humanoids (DARH05),
May 2005, Yverdon-les-Bains / Switzerland.
 
Sven Behnke, and Maren Bennewitz
"Learning to Play Soccer using Imitative Reinforcement"
In Proceedings of ICRA 2005
 Workshop "Social Aspects of Robot Programming through Demonstration"
April 18-22 2005, Barcelona / Spain
 
Sven Behnke, Maren Bennewitz, Jürgen Müller, and Michael Schreiber
"NimbRo 2005 Team Description"
RoboCup 2005 Humanoid League Team Descriptions (RoboCup 2005 Symposium CD)
 
Sven Behnke, Tobias Langner, Jürgen Müller, Holger Neub, and Michael Schreiber
"NimbRo RS: A Low-Cost Autonomous Humanoid Robot for Multi-Agent Research"
Workshop Proceedings:
Methods and Technology for Empirical Evaluation of Multi-Agent Systems and Multi-robot Teams (MTEE) located at the 27th German Conference on Artificial Intelligence
Sep 20-21 2004, Ulm / Germany
 
Sven Behnke, Norbert Mayer, Jürgen Müller, and Michael Schreiber
"NimbRo 2004 Team Description"
8th RoboCup International Symposium
July 4-5 2004, Lissabon / Portugal