Marcell Missura

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Member of research staff of the Humanoid Robots Lab
Email: missura _at_ cs.uni-bonn.de
Office: I.63

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
 

Disseration:

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

Publications:

2015

Marcell Missura and Sven Behnke:
Gradient-Driven Online Learning of Bipedal Push Recovery
In 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
In 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
In 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
In 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.
In 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.
In 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
In 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
In 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
In 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
In 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
In 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
In 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
In Proceedings of 14th International RoboCup Symposium, Singapore, June 2010.

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