All the following work has been done within the scope of our activities. We are proud to be able to make our scientific contribution and thank all supporters inside and outside our university, whose trust makes our research possible.
Papers:
Niklas Fiedler, Florian Vahl, Jan-Niklas Feldhusen, Jianwei Zhang
Applying Monocular Depth Estimation in RoboCup Soccer
IEEE ROBIO 2022
@inproceedings{fiedler2022,
author = {Fiedler, Niklas and Vahl, Florian and Feldhusen, Jan-Niklas and Zhang, Jianwei},
year = {2022},
month = {12},
title = {Applying Monocular Depth Estimation in RoboCup Soccer},
booktitle={IEEE International Conference on Robotics and Biomimetics (ROBIO)}
}
Marc Bestmann, Jianwei Zhang
Bipedal Walking on Humanoid Robots through Parameter Optimization
RoboCup Symposium 2022
@inproceedings{bestmann2022,
author = {Bestmann, Marc and Zhang, Jianwei},
year = {2022},
month = {07},
title = {Bipedal Walking on Humanoid Robots through Parameter Optimization},
booktitle={RoboCup Symposium}
}
Sebastian Stelter, Marc Bestmann, Norman Hendrich, Jianwei Zhang
Fast and Reliable Stand-Up Motions for Humanoid Robots Using Spline Interpolation and Parameter Optimization
IEEE ICAR 2021
@inproceedings{stelter2021,
author = {Stelter, Sebastian and Bestmann, Marc and Hendrich, Norman and Zhang, Jianwei},
year = {2021},
month = {12},
title = {Fast and Reliable Stand-Up Motions for Humanoid Robots Using Spline Interpolation and Parameter Optimization},
booktitle={IEEE ICAR}
}
Florian Vahl, Jan Gutsche, Marc Bestmann, Jianwei Zhang
YOEO – You Only Encode Once: A CNN for Embedded Object Detection and Semantic Segmentation
IEEE ROBIO 2021
@inproceedings{vahl2021yoeo,
author = {Vahl, Florian and Gutsche, Jan and Bestmann, Marc and Zhang, Jianwei},
year = {2021},
month = {12},
title = {YOEO -You Only Encode Once: A CNN for Embedded Object Detection and Semantic Segmentation},
booktitle={IEEE International Conference on Robotics and Biomimetics (ROBIO)}
}
Marc Bestmann, Jasper Güldenstein, Florian Vahl, Jianwei Zhang
Wolfgang-OP: A Robust Humanoid Robot Platform for Research and Competitions
IEEE Humanoids 2021
@inproceedings{WolfgangOP,
author = {Bestmann, Marc and Güldenstein, Jasper and Vahl, Florian and Zhang, Jianwei},
year = {2021},
month = {07},
title = {Wolfgang-OP: A Robust Humanoid Robot Platform for Research and Competitions},
booktitle={IEEE Humanoids 2021}
}
Marc Bestmann, Timon Engelke, Niklas Fiedler, Jasper Güldenstein, Jan Gutsche, Jonas Hagge, Florian Vahl
TORSO-21 Dataset: Typical Objects in RoboCup Soccer 2021
RoboCup Symposium 2021
Find the dataset: TORSO-21
@inproceedings{TORSO2021,
author={Bestmann, Marc and Engelke, Timon and Fiedler, Niklas and Güldenstein, Jasper and Gutsche, Jan and Hagge, Jonas and Vahl, Florian},
year={2021},
title={TORSO-21 Dataset: Typical Objects in RoboCup Soccer 2021},
booktitle={RoboCup 2021: Robot World Cup XXIV}
}
Martin Poppinga, Marc Bestmann
DSD – Dynamic Stack Decider: A Lightweight Decision Making Framework for Robots and Software Agents
International Journal of Social Robotics
@article{poppinga2021dsd,
title={DSD-Dynamic Stack Decider A Lightweight Decision Making Framework for Robots and Software Agents},
author={Poppinga, Martin and Bestmann, Marc},
journal={International Journal of Social Robotics},
year={2021},
publisher={Springer}
}
Marc Bestmann, Jianwei Zhang
Humanoid Control Module: An Abstraction Layer for Humanoid Robots
IEEE ICARSC 2020
@inproceedings{hcm2020,
author = {Bestmann, Marc and Zhang, Jianwei},
year = {2020},
month = {04},
pages = {},
title = {Humanoid Control Module: An Abstraction Layer for Humanoid Robots},
booktitle={2020 IEEE International Conference on Autonomous Robot Systems and Competitions (ICARSC)},
doi = {10.1109/ICARSC49921.2020.9096083}
}
Marc Bestmann, Jasper Güldenstein, Jianwei Zhang
High-Frequency Multi Bus Servo and Sensor Communication Using the Dynamixel Protocol
RoboCup 2019: Robot World Cup XXIII
@inproceedings{dxl2019,
author={Bestmann, Marc and Güldenstein, Jasper and Zhang, Jianwei},
year={2019},
title={High-Frequency Multi Bus Servo and Sensor Communication Using the Dynamixel Protocol},
booktitle={RoboCup 2019: Robot World Cup XXIII},
organization={Springer}
}
Niklas Fiedler, Hendrik Brandt, Jan Gutsche, Florian Vahl, Jonas Hagge, Marc Bestmann
An Open Source Vision Pipeline Approach for RoboCup Humanoid Soccer
RoboCup 2019: Robot World Cup XXIII
@inproceedings{vision2019,
author={Fiedler, Niklas and Brandt, Hendrik and Gutsche, Jan and Vahl, Florian and Hagge, Jonas and Bestmann, Marc},
year={2019},
title={An Open Source Vision Pipeline Approach for RoboCup Humanoid Soccer},
booktitle={RoboCup 2019: Robot World Cup XXIII},
organization={Springer}
}
Niklas Fiedler, Marc Bestmann, Jianwei Zhang
Position Estimation on Image-Based Heat Map Input using Particle Filters in Cartesian Space
2019 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)
@inproceedings{filtering2019,
author={Fiedler, Niklas and Bestmann, Marc and Zhang, Jianwei},
year={2019},
title={Position Estimation on Image-Based Heat Map Input using Particle Filters in Cartesian Space},
booktitle={2019 IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems (MFI)},
organization={IEEE}
}
Daniel Speck, Pablo Barros, Stefan Wermter
De-Noise-GAN: De-Noising Images to Improve RoboCup Soccer Ball Detection
27th International Conference on Artificial Neural Networks (ICANN 2018)
@inproceedings{speck2018noise,
title={De-noise-GAN: De-noising Images to Improve RoboCup Soccer Ball Detection},
author={Speck, Daniel and Barros, Pablo and Wermter, Stefan},
booktitle={International Conference on Artificial Neural Networks},
pages={738--747},
year={2018},
organization={Springer}
}
Niklas Fiedler, Marc Bestmann, Norman Hendrich
ImageTagger: An Open Source Online Platform for Collaborative Image Labeling
RoboCup Symposium 2018
Poster: Imagetagger: An Open Source Online Platform for Collaborative Image Labeling, Poster Expo Informatics Department (2017)
@inproceedings{imagetagger2018,
author={Fiedler, Niklas and Bestmann, Marc and Hendrich, Norman},
year={2018},
title={ImageTagger: An Open Source Online Platform for Collaborative Image Labeling},
booktitle={RoboCup 2018: Robot World Cup XXII},
organization={Springer}
}
Daniel Speck, Marc Bestmann, Pablo Barros
Towards Real-Time Ball Localization using CNNs
RoboCup Symposium 2018
Find our dataset: Hamburg Bit-Bots Ball Dataset 2018
@inproceedings{speck2018fcnn,
title={Towards Real-Time Ball Localization using CNNs},
author={Speck, Daniel and Bestmann, Marc and Barros, Pablo},
booktitle={RoboCup 2018: Robot World Cup XXII},
organization={Springer},
year={2018}
}
Daniel Speck, Pablo Barros, Cornelius Weber, Stefan Wermter
Ball Localization for Robocup Soccer using Convolutional Neural Networks
RoboCup Symposium 2016
Best Paper Award for Engineering Contribution
@inproceedings{speck2016ball,
title={Ball localization for RoboCup soccer using convolutional neural networks},
author={Speck, Daniel and Barros, Pablo and Weber, Cornelius and Wermter, Stefan},
booktitle={Robot World Cup XX},
pages={19--30},
year={2016},
organization={Springer}
}
Marc Bestmann, Bente Reichardt, Florens Wasserfall
Hambot: An Open Source Robot for RoboCup Soccer
RoboCup Symposium 2015
Poster from RoboCup Symposium 2015: Hambot_Poster
@inproceedings{bestmann2015hambot,
title={Hambot: an open source robot for RoboCup Soccer},
author={Bestmann, Marc and Reichardt, Bente and Wasserfall, Florens},
booktitle={Robot Soccer World Cup},
pages={339--346},
year={2015},
organization={Springer}
}
Dissertations:
Bestmann, Marc: Learning Motion Skills for a Humanoid Robot, Dissertation, Universität Hamburg, 2023
Bachelor’s and Master’s Theses:
Bartel, V.: Learning the Odometry on a Humanoid Robot, Bachelor’s thesis, Universität Hamburg, Department of Informatics, Deutschland (2024)
Gutsche, J.: Quantifying Player Performance in Simulated Humanoid Robot Soccer Games, Bachelor’s thesis, Universität Hamburg, Department of Informatics, Germany (2023)
Stelter, S.: Learning Error-Corrections for Series Elastic Actuators on Humanoid Robots, Master’s thesis, Universität Hamburg, Department of Informatics, Germany (2022)
Güldenstein, J.: Footstep Planning using Reinforcement Learning for Humanoid Robots, Master’s thesis, Universität Hamburg, Department of Informatics, Germany (2022)
Vahl, F.: Active Vision for Humanoid Soccer Robots using Reinforcement Learning, Bachelor’s thesis, Universität Hamburg, Department of Informatics, Germany (2022)
Engelke, T.: Learning to Kick from Demonstration with Deep Reinforcement Learning, Bachelor’s thesis, Universität Hamburg, Department of Informatics, Germany (2021)
Sell, F.: Integration of Software Development Testing Practices in Robotics, Bachelor’s thesis, Universität Hamburg, Department of Informatics, Germany (2021)
Djahangir, D.: Automatische Fehlererkennung mit dem Dynamixel V2.0 Protokoll, Bachelor’s thesis, Universität Hamburg, Department of Informatics, Germany (2020)
Uhrmacher, L.: Gestenerkennung für den RoboCup mit OpenPose und neuronalen Netzen, Bachelor’s thesis, Universität Hamburg, Department of Informatics, Germany (2020)
Bergter, E.: Image Based Robot Localization and Orientation Classification Using CGI and Photographic Data, Bachelor’s thesis, Universität Hamburg, Department of Informatics, Germany (2020)
Mirow, R.: Embedded Debug Interface for Robots, Bachelor’s thesis, Universität Hamburg, Department of Informatics, Germany (2020)
Stelter, S.: Creating Dynamic Stand-Up Motion for Bipedal Robots, Bachelor’s thesis, Universität Hamburg, Department of Informatics, Germany (2020)
Hartfill, J.: Feature-Based Monte Carlo Localization in the RoboCup Humanoid Soccer League, Master’s thesis, Universität Hamburg, Department of Informatics, Germany (2019)
Flemming, T.: Evaluating and Minimizing the Reality Gapin the Domain of RoboCup Humanoid Soccer, Bachelor’s thesis, Universität Hamburg, Department of Informatics, Germany (2019)
Hagge, J.: Using FCNNs for Goalpost Detection in the RoboCup Humanoid Soccer Domain, Bachelor’s thesis, Universität Hamburg, Department of Informatics, Germany (2019)
Fiedler, N.: Distributed Multi Object Tracking with Direct FCNN Inclusion in RoboCup Humanoid Soccer, Bachelor’s thesis, Universität Hamburg, Department of Informatics, Germany (2019)
Güldenstein, J.: Comparison of Measurement Systems for Kinematic Calibration of a Humanoid Robot, Bachelor’s thesis, Universität Hamburg, Department of Informatics, Germany (2019)
Bestmann, M.: Towards Using ROS in the RoboCup Humanoid Soccer League, Master’s thesis, Universität Hamburg, Department of Informatics, Germany (2017)
Fiedler, F.: Reinforcement Learning zum selbstoptimierenden Laufen mit Kraftsensoren im RoboCup, Master’s thesis, Universität Hamburg, Department of Informatics, Germany (2017)
Giese, T.: Entwicklung einer Benutzerschnittstelle zur
Echtzeitbearbeitung von Roboteranimationen (Development of a user-interface for realtime editing of robot animations), Bachelor’s thesis, Universität Hamburg, Department of Informatics, Germany (2015)
Rokita, N.: Design and Control of Biologically Inspired Joints, Bachelor’s thesis, Universität Hamburg, Department of Informatics, Germany (2015)
Schmidt, R.: Development of a stable robot walking algorithm using center-of-gravity control, Bachelor’s thesis, Universität Hamburg, Department of Informatics, Germany (2015)
Poppinga, M.: Intelligente Wegfindung humanoider Roboter am Beispiel des RoboCup, Bachelor’s thesis, Universität Hamburg, Department of Informatics, Germany (2014)
Bestmann, M.: Biologically Inspired Localization On Humanoid Soccer Playing Robots, Bachelor’s thesis, Universität Hamburg, Department of Informatics, Germany (2014)
Paetzel, M.: Spielerkoordination in RoboCup-Fußballspielen mittels gesprochener Sprache, Bachelor’s thesis, Universität Hamburg, Department of Informatics, Germany (2013)
Keßler, R.: Geräuschquellenlokalisierung mit einem humanoiden Roboter, Bachelor’s thesis, Universität Hamburg, Department of Informatics, Germany (2012)
Bestmann, O.: Konzeption und Implementierung eines Verfahrens zur Messung von Verschiebungsvektoren in Multispektralbildern, Bachelor’s thesis, Universität Hamburg, Department of Informatics, Germany (2012)
Project course reports:
Gutsche, J., Vahl, F.: DeepField — Semi-Supervised Learning for RoboCup Soccer Field Recognition, Universität Hamburg, Department of Informatics, Group TAMS, Germany (2020)
Ahlers, D., Berg, P.M.: Climbing Stairs with DARwIn-OP humanoid robots using kinematic tasks, Universität Hamburg, Department of Informatics, Germany (2015)
Einig, L., Peikert, K., Richter, A.: Ballverifikation, Universität Hamburg, Department of Informatics, Germany (2012)
Practical course reports:
Bormann, F., Engelke, T., Sell F.-T.: Developing a Reactive and Dynamic Kicking Engine for Humanoid Robots, Universität Hamburg, Department of Informatics, Group TAMS, Germany (2019)
Baumann, P., Gutsche, J., Ostendorf, B., Vahl, F.: Visual Compass for Mobile Robot Orientation Estimation, Universität Hamburg, Department of Informatics, Group TAMS, Germany (2019)
Team Description Papers (TDP):
TDPs are part of the application process for participation in the RoboCup Humanoid League and describe our Team at the time.
Since 2021, this has been revised and this is not part of the application anymore.