The focus of our research lies on robots acting in human environments. First, we investigate the interaction between robots and non-expert users and aim at designing intuitive programming interfaces. Second, we are especially interested in robot navigation in challenging environments. For example, we develop techniques for humanoid robots navigating in multi-level and multi-room indoor environments that contain articulated and movable objects. We develop probabilistic methods for 3D environment modeling as well as for manipulation and navigation. This work is carried out within the SFB/TR8 Spatial Cognition funded by the German Research Foundation and the projects First-MM, ROVINA, and SQUIRREL funded by the EU.
As part of the research training group on Embedded Microsystems funded by the German Research Foundation, we aim at developing effective methods for systems with limited hardware resources. We contribute robust techniques for the interpretation of sensor data and for navigation control of robots with only noisy sensor and actuator devices.
Furthermore, we carry out research within the cluster of excellence BrainLinks-BrainTools. Here, one focus lies on the autonomous execution of manipulation tasks for paralyzed patients based on brain-machine interfaces. We will also analyze human motions for real-time imitation of the recorded motions on humanoid robots and for neurological patients suffering from motion malfunctions. The goal is to improve the patients behavior using closed-loop deep brain stimulation. Both projects are based on close, interdisciplinary collaborations.