Marcell Missura

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Member of research staff of the Humanoid Robots Lab
Email: missura _at_ cs.uni-bonn.de

Office: 2.021

Bio:

Marcell Missura is a postdoc researcher and teaching assistant at the Humanoid Robots Lab of the University of Bonn in Germany. He obtained his PhD from the University of Bonn in computer science in 2016 for his work on bipedal walking with push recovery capabilities. Marcell has earned six world champion titles and three times the Louis Vuitton Best Humanoid Award in the international RoboCup competitions. His research topics include motion planning in dynamic environments and robust bipedal walking for humanoid robots.

Videos:

Push Revocery Learning
Dynaped with small feet
Dynaped outside
Walking with Capture Steps
The NimbRo Gait
Bioloid Soccer

Teaching:

Projektgruppe Humanoide Roboter (BA-INF 051)
Seminar Humanoid Robots (MA-INF 4213)
Lab Humanoid Robots (MA-INF 4214)
Lab Parallel Computing for Mobile Robotics (MA-INF 4226, not offered this term)
Accompanying seminar for Bachelor and Master thesis presentations (BA-INF 062, MA-INF 0402)

Ongoing Research Topics:

Constructing polygonal environments from point cloud data
Computing shortest paths in polygonal maps
Dynamic Window Approach using holonomic and non-holonomic motion models
Heuristic search-based motion planning in dynamic environments
Parallel computing of collision checking and DWA

Bachelor and Master thesis topics available right now:

Polygonal sensing with a moving robot
Conversion of an occupancy grid map to a polygonal map
Using cubic splines for collision checking and DWA
Using spirals for collision checking and DWA
Deep DWA with the Synchronized Holonomic Model
DWA with path return trajectories
Dynamic motion planning with A* in a polygonal map
Dynamic motion planning with a velocity profile over a path in a polygonal map
Parallel computing of DWA and a holonomic motion model in a polygonal map
Semi-holonomic motion model for a humanoid robot
Balance-aware Footstep Planning using the Pole-Cart model

Publications:

2018

Minimal Construct: Efficient Shortest Path Finding for Mobile Robots
in Polygonal Maps

Marcell Missura, Daniel D. Lee, and Maren Bennewitz.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018. (to appear)

2017

Predicting Travel Time from Path Characteristics for Wheeled Robot Navigation
Peter Regier, Marcell Missura, and Maren Bennewitz.
Proceedings of the European Conference on Mobile Robots (ECMR), 2017.

The Synchronized Holonomic Model: A Framework for Efficient Motion Generation
M. Missura, D. Lee, O. von Stryk, and M. Bennewitz.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.

2016

Analytic and Learned Footstep Control for Robust Bipedal Walking
Dissertation, Mathematisch-Naturwissenschaftliche Fakultät, Universität Bonn, 2016.

2015

Marcell Missura and Sven Behnke:
Gradient-Driven Online Learning of Bipedal Push Recovery
Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, September 2015.

Marcell Missura and Sven Behnke:
Online Learning of Bipedal Walking Stabilization
German Journal on Artificial Intelligence (KI), 2015.

Marcell Missura and Sven Behnke:
Online Learning of Sagittal Push Recovery for Bipedal Robots
Late Breaking Result Abstract at IEEE International Conference on Robotics and Automation (ICRA), Seattle, USA, May 2015. [Poster]

2014

Marcell Missura and Sven Behnke:
Online Learning of Foot Placement for Balanced Bipedal Walking
Proceedings of 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Madrid, Spain, November 2014.
[Video]

Marcell Missura and Sven Behnke:
Balanced Walking with Capture Steps
Proceedings of 18th RoboCup International Symposium, Joao Pessoa, Brasil, July 2014. (best paper award)
[Video]

Marcell Missura, Cedrick Münstermann, Philipp Allgeuer, Max Schwarz, Julio Pastrana, Sebastian Schueller, Michael Schreiber, and Sven Behnke:
Learning to Improve Capture Steps for Disturbance Rejection in Humanoid Soccer
RoboCup 2013: Robot World Cup XVII, Lecture Notes in Computer Science 8371, pp. 56-67, Springer, to appear 2014.

2013

Marcell Missura and Sven Behnke:
Omnidirectional Capture Steps for Bipedal Walking
Proceedings of 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Atlanta, GA, October 2013.

Philipp Allgeuer, Max Schwarz, Julio Pastrana, Sebastian Schueller, Marcell Missura and Sven Behnke:
A ROS-Based Software Framework for the NimbRo-OP Humanoid Open Platform.
Proceedings of 8th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Atlanta, October 2013.

Marcell Missura and Sven Behnke:
Self-stable Omnidirectional Walking with Compliant Joints.
Proceedings of 8th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Atlanta, October 2013.

Max Schwarz, Julio Pastrana, Philipp Allgeuer, Michael Schreiber, Sebastian Schueller, Marcell Missura and Sven Behnke:
Humanoid TeenSize Open Platform NimbRo-OP
Proceedings of 17th RoboCup International Symposium, Eindhoven, Netherlands, June 2013.

Marcell Missura, Cedrick Münstermann, Malte Mauelshagen, Michael Schreiber and Sven Behnke:
RoboCup 2012 Best Humanoid Award Winner NimbRo TeenSize
RoboCup 2012, Robot Soccer World Cup XVI, LNCS 7500, pp. 89-93, Springer, 2013. 

2012

Max Schwarz, Michael Schreiber, Sebastian Schueller, Marcell Missura and Sven Behnke:
NimbRo-OP Humanoid TeenSize Open Platform
Proceedings of 7th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots, Osaka, November 2012.

Daniel D. Lee, Seung-Joon Yi, Stephen McGill, Yida Zhang, Sven Behnke, Marcell Missura, Hannes Schulz, Dennis Hong, Jeakweon Han, and Michael Hopkins:
RoboCup 2011 Humanoid League Winners
In: RoboCup 2011: Robot Soccer World Cup XV, LNCS 7416, pp. 37-50, Springer, 2012.

Juan José Alcaraz-Jiménez, Marcell Missura, Humberto Martínez-Barberá, and Sven Behnke:
Lateral Disturbance Rejection for the Nao Robot
Proceedings of 16th RoboCup International Symposium, Mexico City, June 2012. (best paper award)
In: RoboCup 2012: Robot Soccer World Cup XVI, LNCS 7500, pp. 1-12, Springer, 2013.

2011

Marcell Missura and Sven Behnke:
Lateral Capture Steps for Bipedal Walking
Proceedings of 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Bled, Slovenia, October 2011.

Andreas Schmitz, Marcell Missura, and Sven Behnke:
Real-Time Trajectory Generation by Offline Footstep Planning for a Humanoid Soccer Robot
Proceedings of the 15th RoboCup International Symposium, Istanbul, July 2011.
In: RoboCup 2011: Robot Soccer World Cup XV, LNCS 7416, pp. 198-209, Springer, 2012.

Marcell Missura and Sven Behnke:
Efficient Kinodynamic Trajectory Generation for Wheeled Robots
Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Shanghai, China, May 2011.

2010

Andreas Schmitz, Marcell Missura and Sven Behnke
Learning Footstep Prediction from Motion Capture
Proceedings of 14th International RoboCup Symposium, Singapore, June 2010.

Marcell Missura, Tobias Wilken and Sven Behnke
Designing Effective Humanoid Soccer Goalies
Proceedings of 14th International RoboCup Symposium, Singapore, June 2010.