Home Teaching WS1617 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:

Wednesday, 26 October 2016, 14:00 c.t. Introductory meeting, seminar room I.42 (LBH, Friedrich-Ebert-Allee 144)
Friday, 28 October 2016, noon Registration deadline and topic assignment (online)
Monday, 31 October 2016 Registration deadline in BASIS
Monday, 13 February 2017 Seminar presentation and deadline for written summary



The registration is closed now and the topics have been assigned.



  1. Generating Legible Motion.
    Anca Dragan and Siddhartha Srinivasa.
    Robotics: Science and Systems (RSS), 2013
    Supervisor: Maren Bennewitz
    [PDF] [DOI]
  2. Considering Avoidance and Consistency in Motion Planning for Human-Robot Manipulation in a Shared Workspace.
    Rafi Hayne, Ruikun Luo, and Dmitry Berenson.
    International Conference on Robotics and Automation (ICRA), 2016.
    Supervisor: Maren Bennewitz
    [PDF] [DOI] [Video]
  3. Omnidirectional Bipedal Walking with Direct Fused Angle Feedback Mechanisms.
    Philipp Allgeuer and Sven Behnke.
    International Conference on Humanoid Robots (HUMANOIDS), 2016.
    Supervisor: Marcell Missura
    [PDF] [DOI] [Video]
  4. Trajectory Free Linear Model Predictive Control for Stable Walking in the Presence of Strong Perturbations.
    Pierre-Brice Wieber.
    International Conference on Humanoid Robots (HUMANOIDS), 2006.
    Supervisor: Marcell Missura
    [PDF] [DOI]
  5. Bipedal Walking Control Based on Capture Point Dynamics.
    Johannes Englsberger, Christian Ott, Maximo A. Roa, Alin Albu-Schäffer, and Gerhard Hirzinger.
    International Conference on Intelligent Robots and Systems (IROS), 2011.
    Supervisor: Marcell Missura
    [PDF available on request] [DOI]
  6. Robust Physics-Based Locomotion Using Low-Dimensional Planning.
    Igor Mordatch, Martin de Lasa, and Aaron Hertzmann.
    International Conference and Exhibition on Computer Graphics and Interactive Techniques (SIGGRAPH), 2010.
    Supervisor: Marcell Missura
    [PDF] [DOI] [Video] [website]
  7. Optimizing Energy Consumption and Preventing Slips at the Footstep Planning Level.
    Martim Brandão, Kenji Hashimoto, José Santos-Victor, and Atsuo Takanishi.
    International Conference on Humanoid Robots (HUMANOIDS), 2015.
    Supervisor: Stefan Oßwald
    [PDF available on request] [DOI]
  8. Footstep Planning on Uneven Terrain with Mixed-Integer Convex Optimization.
    Robin Deits and Russ Tedrake.
    International Conference on Humanoid Robots (HUMANOIDS), 2014.
    Supervisor: Philipp Karkowski
    [PDF] [DOI] [Video]
  9. Using Environment Objects as Tools in Unknown Environments.
    Martin Levihn and Henrik Christensen.
    International Conference on Humanoid Robots (HUMANOIDS), 2015.
    Supervisor: Peter Regier
    [PDF] [DOI]
  10. Autonomous Environment Manipulation to Assist Humanoid Locomotion.
    Martin Levihn, Koichi Nishiwaki, Satoshi Kagami, and Mike Stilman.
    International Conference on Robotics and Automation (ICRA), 2014.
    Supervisor: Peter Regier
    [PDF] [DOI] [Video]