Seminar Humanoid Robots (MA-INF 4213)

In this seminar, we cover state-of-the-art research papers from conferences and journals in the field of humanoid robotics and related fields. The available topics are presented in the Introductory Meeting and can be selected during the registration for the seminar on our website. In the Introductory Meeting, we will present the topics, the registration process, the requirements, and answer questions.

Participants of the seminar have to prepare a talk of 25 minutes. After the talk, there will be a Q&A of about 5 minutes where you will be asked questions by the staff and other participants of the seminar. Bachelor students can choose to present their topic in German, master students must give their presentation in English.

Participating students are also required to write a summary and discussion of their assigned topic. The summary and discussion should be written in LaTeX using the following template: seminar_template.tex The document should be 7 pages long not including images and references! Bachelor students can opt to write their summary in German.

Each participant will be paired up with a supervisor who monitors their progress and is available to help with questions or difficulties. Students can work freely during the semester to prepare their material. The written summary and the presentation slides must be submitted by the morning of the Seminar Day.

The Seminar Day is a whole day event which takes place towards the end of the semester typically from 8:30am to 3:30pm. All participants are required to be present on the Seminar Day, to give their presentation, and also to listen to the talks of the other participants. Active participation during the Q&A sessions counts as a bonus towards your final score.



Important dates:

Monday, 16 April 2018, 10:00 c.t. Introductory meeting (room 0.011, Endenicher Allee 19A)
Friday, 20 April 2018, noon Deadline for registration on our website
Monday, 30 April 2018 Registration deadline in BASIS
Wednesday, 11 July 2018 Seminar presentation and deadline for written summary, Room 0.027, 8:30am - 15:20pm



The registration is closed. The seminar will be offered again next semester.



    1. Sensory Steering for Sampling-Based Motion Planning.
      Omur Arslan, Vincent Pacelli, and Daniel Koditschek.
      IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.
      Supervisor: Marcell Missura
      [PDF] [www]
    2. Search-based Motion Planning for Quadrotors using Linear Quadratic Minimum Time Control.
      Sikang Liu, Nikolay Atanasov, Kartik Mohta, and Vijay Kumar.
      IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017.
      Supervisor: Marcell Missura
    3. Computing Shortest Path Maps with GPU Shaders
      Carlo Camporesi, Marcelo Kallmann
      Int. Conf. on Motion in Games (MIG), 2014.
      Supervisor: Stefan Oßwald
    4. AtomMap: A Probabilistic Amorphous 3D Map Representation for Robotics
      and Surface Reconstruction
      David Fridovich-Keil, Erik Nelson, Avideh Zakhor
      IEEE/RSJ International Conference on Robotics and Automation (ICRA), 2017
      Supervisor: Stefan Oßwald
      [PDF] [CODE]
    5. Probabilistic Data Association for Semantic SLAM
      Sean Bowman, Nikolay Atanasov, Kostas Daniilidis, George J Pappas
      IEEE/RSJ International Conference on Robotics and Automation (ICRA), 2017
      Supervisor: Peter Regier
    6. Estimating Unknown Object Dynamics in Human-Robot Manipulation Tasks
      Denis Cehajic, Pablo Budde gen. Dohmann, Sandra Hirche
      IEEE/RSJ International Conference on Robotics and Automation (ICRA), 2017
      Supervisor: Peter Regier
    7. Fast Object Approximation for Real-Time 3D Obstacle Avoidance with Biped Robots
      D. Wahrmann, A.-C. Hildebrandt, R. Wittmann, F. Sygulla, D. Rixen, and T. Buschmann
      IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2016
      Supervisor: Philipp Karkowski
    8. Real-Time Path Planning in Unknown Environments for Bipedal Robots
      A.-C. Hildebrandt, M. Klischat, D. Wahrmann, R. Wittmann, F. Sygulla, P. Seiwald, D. Rixen, and T. Buschmann
      IEEE Robotics and Automation Letters, 2017
      Supervisor: Philipp Karkowski
    9. Footstep and Motion Planning in Semi-unstructured Environments Using Randomized Possibility Graphs.
      Michael X. Grey, Aaron D. Ames, and C. Karen Liu.
      IEEE International Conference on Robotics and Automation (ICRA), 2017.
      Supervisor: Maren Bennewitz
    10. Humanoid Navigation in Uneven Terrain using Learned Estimates of Traversability
      Y.-C. Lin and D. Berenson
      IEEE International Conference on Humanoid Robots (Humanoids), 2017.
      Supervisor: Maren Bennewitz
    11. A Literature Review on New Robotics: Automation from Love to War
      L. Royakkers and R. van Est
      International Journal of Social Robotics (7:579-570), 2015.
      Supervisor: Philipp Bruckschen
    12. Social Robots for Long-Term Interaction: A Survey
      I. Leite, C. Martinho, A. Paiva
      International Journal of Social Robotics (5:291–308), 2013.
      Supervisor: Philipp Bruckschen