Home Teaching SS17 Master Seminar

Seminar Humanoid Robots (MA-INF 4213)

  • In this seminar, we will cover state-of-the-art research papers from conferences and journals in the field of humanoid robotics.
  • Topics will be assigned in the first meeting.
  • You have to prepare a talk of approx. 30 minutes and to write a summary with discussion. Both can be done in English or German.
  • The summary and discussion should be written in LaTeX using the following template: seminar_template.tex
    The summary and discussion should be about 7 pages long. For the 7 page limit, we just count the text, not the images and references.




Important dates:

The introductory meeting for all interested participants will take place on Monday, April 24 at 11:00 c.t. In the introductory meeting, we will present the topics, schedule, and requirements, and answer questions.

Monday, 24 April 2017, 11:00 c.t. Introductory meeting (room I.42, LBH, Friedrich-Ebert-Allee 144)
Friday, 28 April 2017, noon Deadline for selecting the topic (online, link by email)
Sunday, 30 April 2017 Registration deadline in BASIS
Thursday, 3 August 2017 Seminar presentation and deadline for written summary

After the first lab meeting, the participants can arrange their working schedule individually after consultation with their supervisor.



  1. Workspace Analysis for Planning Human-Robot Interaction Tasks.
    Nikolaus Vahrenkamp, Harry Arnst, Mirko Wachter, David Schiebener, Panagiotis Sotiropoulos, Michal Kowalik, and Tamim Asfour.
    International Conference on Humanoid Robots (HUMANOIDS), 2016.
    Supervisor: Maren Bennewitz
    [PDF] [DOI]
  2. Momentum Control for Balance.
    Adriano Macchietto, Victor Zordan, and Christian Shelton.
    SIGGRAPH 2009.
    Supervisor: Marcell Missura
    [PDF] [www] [DOI]
  3. Goal Directed Stepping with Momentum Control.
    Chun-Chih Wu and Victor Zordan.
    Eurographics/ACM SIGGRAPH Symposium on Computer Animation (SCA), 2010.
    Supervisor: Marcell Missura
    [PDF] [www] [DOI]
  4. The Office Marathon: Robust Navigation in an Indoor Office Environment.
    Eitan Marder-Eppstein, Eric Berger, Tully Foote, Brian Gerkey, Kurt Konolige.
    International Conference on Robotics and Automation (ICRA), 2010.
    Supervisor: Marcell Missura
    [PDF] [www] [DOI]
  5. Planning Long Dynamically-Feasible Maneuvers for Autonomous Vehicles.
    Maxim Likhachev and Dave Ferguson.
    International Journal of Robotics Research (IJRR), 2009.
    Supervisor: Marcell Missura
    [PDF] [DOI]
  6. iDRM: Humanoid Motion Planning with Real-Time End-Pose Selection in Complex Environments.
    Yiming Yang, Vladimir Ivan, Zhibin Li, Maurice Fallon, and Sethu Vijayakumar.
    International Conference on Humanoid Robots (HUMANOIDS), 2016.
    Supervisor: Stefan Oßwald
    [PDF] [DOI]
  7. Omnidirectional Humanoid Navigation in Cluttered Environments Based on Optical Flow Information.
    Marco Ferro, Antonio Paolillo. Andrea Cherubini, and Marilena Vendittelli.
    International Conference on Humanoid Robots (HUMANOIDS), 2016.
    Supervisor: Philipp Karkowski
    [PDF] [www] [DOI]
  8. Exploiting the Redundancy for Humanoid Robots to Dynamically Step over a Large Obstacle.
    Chengxu Zhou, Xin Wang, and Zhibin Li.
    International Conference on Intelligent Robots and Systems (IROS), 2015.
    Supervisor: Philipp Karkowski
    [PDF] [DOI]
  9. STOMP: Stochastic Trajectory Optimization for Motion Planning.
    Mrinal Kalakrishnan, Sachin Chitta, Evangelos Theodorou, Peter Pastor, and Stefan Schaal.
    International Conference on Robotics and Automation (ICRA), 2011.
    Supervisor: Peter Regier
    [PDF] [www] [DOI] [ROS]