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2018


Gait learning for soft microrobots controlled by light fields
Gait learning for soft microrobots controlled by light fields

Rohr, A. V., Trimpe, S., Marco, A., Fischer, P., Palagi, S.

In International Conference on Intelligent Robots and Systems (IROS) 2018, pages: 6199-6206, International Conference on Intelligent Robots and Systems 2018, October 2018 (inproceedings)

Abstract
Soft microrobots based on photoresponsive materials and controlled by light fields can generate a variety of different gaits. This inherent flexibility can be exploited to maximize their locomotion performance in a given environment and used to adapt them to changing environments. However, because of the lack of accurate locomotion models, and given the intrinsic variability among microrobots, analytical control design is not possible. Common data-driven approaches, on the other hand, require running prohibitive numbers of experiments and lead to very sample-specific results. Here we propose a probabilistic learning approach for light-controlled soft microrobots based on Bayesian Optimization (BO) and Gaussian Processes (GPs). The proposed approach results in a learning scheme that is highly data-efficient, enabling gait optimization with a limited experimental budget, and robust against differences among microrobot samples. These features are obtained by designing the learning scheme through the comparison of different GP priors and BO settings on a semisynthetic data set. The developed learning scheme is validated in microrobot experiments, resulting in a 115% improvement in a microrobot’s locomotion performance with an experimental budget of only 20 tests. These encouraging results lead the way toward self-adaptive microrobotic systems based on lightcontrolled soft microrobots and probabilistic learning control.

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arXiv IEEE Xplore DOI Project Page [BibTex]

2018


arXiv IEEE Xplore DOI Project Page [BibTex]


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Direct Sparse Odometry With Rolling Shutter

Schubert, D., Usenko, V., Demmel, N., Stueckler, J., Cremers, D.

European Conference on Computer Vision (ECCV), September 2018, accepted as oral presentation (conference)

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[BibTex]

[BibTex]


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Deep Virtual Stereo Odometry: Leveraging Deep Depth Prediction for Monocular Direct Sparse Odometry

Yang, N., Wang, R., Stueckler, J., Cremers, D.

European Conference on Computer Vision (ECCV), September 2018, accepted as oral presentation, arXiv 1807.02570 (conference)

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link (url) [BibTex]

link (url) [BibTex]


Soft Miniaturized Linear Actuators Wirelessly Powered by Rotating Permanent Magnets
Soft Miniaturized Linear Actuators Wirelessly Powered by Rotating Permanent Magnets

Qiu, T., Palagi, S., Sachs, J., Fischer, P.

In 2018 IEEE International Conference on Robotics and Automation (ICRA), pages: 3595-3600, May 2018 (inproceedings)

Abstract
Wireless actuation by magnetic fields allows for the operation of untethered miniaturized devices, e.g. in biomedical applications. Nevertheless, generating large controlled forces over relatively large distances is challenging. Magnetic torques are easier to generate and control, but they are not always suitable for the tasks at hand. Moreover, strong magnetic fields are required to generate a sufficient torque, which are difficult to achieve with electromagnets. Here, we demonstrate a soft miniaturized actuator that transforms an externally applied magnetic torque into a controlled linear force. We report the design, fabrication and characterization of both the actuator and the magnetic field generator. We show that the magnet assembly, which is based on a set of rotating permanent magnets, can generate strong controlled oscillating fields over a relatively large workspace. The actuator, which is 3D-printed, can lift a load of more than 40 times its weight. Finally, we show that the actuator can be further miniaturized, paving the way towards strong, wirelessly powered microactuators.

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link (url) DOI [BibTex]

link (url) DOI [BibTex]


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The TUM VI Benchmark for Evaluating Visual-Inertial Odometry

Schubert, D., Goll, T., Demmel, N., Usenko, V., Stueckler, J., Cremers, D.

In IEEE International Conference on Intelligent Robots and Systems (IROS), 2018, arXiv:1804.06120 (inproceedings)

ev

[BibTex]

[BibTex]


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Variational Network Quantization

Achterhold, J., Koehler, J. M., Schmeink, A., Genewein, T.

In International Conference on Learning Representations , 2018 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Light field intrinsics with a deep encoder-decoder network

Alperovich, A., Johannsen, O., Strecke, M., Goldluecke, B.

In IEEE Conference on Computer Vision and Pattern Recognition (CVPR), 2018 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Sublabel-accurate convex relaxation with total generalized variation regularization

(DAGM Best Master's Thesis Award)

Strecke, M., Goldluecke, B.

In German Conference on Pattern Recognition (Proc. GCPR), 2018 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]

2015


3D-printed Soft Microrobot for Swimming in Biological Fluids
3D-printed Soft Microrobot for Swimming in Biological Fluids

Qiu, T., Palagi, S., Fischer, P.

In Conf. Proc. IEEE Eng. Med. Biol. Soc., pages: 4922-4925, August 2015 (inproceedings)

Abstract
Microscopic artificial swimmers hold the potential to enable novel non-invasive medical procedures. In order to ease their translation towards real biomedical applications, simpler designs as well as cheaper yet more reliable materials and fabrication processes should be adopted, provided that the functionality of the microrobots can be kept. A simple single-hinge design could already enable microswimming in non-Newtonian fluids, which most bodily fluids are. Here, we address the fabrication of such single-hinge microrobots with a 3D-printed soft material. Firstly, a finite element model is developed to investigate the deformability of the 3D-printed microstructure under typical values of the actuating magnetic fields. Then the microstructures are fabricated by direct 3D-printing of a soft material and their swimming performances are evaluated. The speeds achieved with the 3D-printed microrobots are comparable to those obtained in previous work with complex fabrication procedures, thus showing great promise for 3D-printed microrobots to be operated in biological fluids.

pf

link (url) DOI [BibTex]

2015


link (url) DOI [BibTex]


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Real-Time Object Detection, Localization and Verification for Fast Robotic Depalletizing

Holz, D., Topalidou-Kyniazopoulou, A., Stueckler, J., Behnke, S.

In IEEE International Conference on Intelligent Robots and Systems (IROS), 2015 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]


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Dense Continuous-Time Tracking and Mapping with Rolling Shutter RGB-D Cameras

Kerl, C., Stueckler, J., Cremers, D.

In IEEE International Conference on Computer Vision (ICCV), Santiago, Chile, 2015, {[video][supplementary][datasets]} (inproceedings)

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[BibTex]

[BibTex]


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Large-Scale Direct SLAM with Stereo Cameras

Engel, J., Stueckler, J., Cremers, D.

In IEEE International Conference on Intelligent Robots and Systems (IROS), 2015 (inproceedings)

ev

[BibTex]

[BibTex]


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Motion Cooperation: Smooth Piece-Wise Rigid Scene Flow from RGB-D Images

Jaimez, M., Souiai, M., Stueckler, J., Gonzalez-Jimenez, J., Cremers, D.

In Proc. of the Int. Conference on 3D Vision (3DV), October 2015, {[video]} (inproceedings)

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[BibTex]

[BibTex]


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Super-Resolution Keyframe Fusion for 3D Modeling with High-Quality Textures

Maier, R., Stueckler, J., Cremers, D.

In International Conference on 3D Vision (3DV), October 2015, {[slides] [poster]} (inproceedings)

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[BibTex]

[BibTex]


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Reconstructing Street-Scenes in Real-Time From a Driving Car

Usenko, V., Engel, J., Stueckler, J., Cremers, D.

In Proc. of the Int. Conference on 3D Vision (3DV), October 2015 (inproceedings)

ev

[BibTex]

[BibTex]

2009


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Integrating indoor mobility, object manipulation, and intuitive interaction for domestic service tasks

Stueckler, J., Behnke, S.

In Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), pages: 506-513, December 2009 (inproceedings)

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link (url) DOI [BibTex]

2009


link (url) DOI [BibTex]


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Dynamaid, an Anthropomorphic Robot for Research on Domestic Service Applications

Stueckler, J., Schreiber, M., Behnke, S.

In Proc. of the European Conference on Mobile Robots (ECMR), pages: 87-92, 2009 (inproceedings)

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link (url) [BibTex]

link (url) [BibTex]

2007


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Hierarchical reactive control for a team of humanoid soccer robots

Behnke, S., Stueckler, J., Schreiber, M., Schulz, H., Böhnert, M., Meier, K.

In Proc. of the IEEE-RAS Int. Conf. on Humanoid Robots (Humanoids), pages: 622-629, November 2007 (inproceedings)

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link (url) DOI [BibTex]

2007


link (url) DOI [BibTex]