Robotics Research Lab

Vita

Tobias Luksch studied computer science at the University of Karlsruhe from 1996 to 2002. He specialized in robotics, machine learning, adaptive systems and control theory. The title of his diploma thesis is "A Behavior-based Freegait for a Four Legged Walking Machine" and was done at the Research Center for Information Technologies (FZI) in Karlsruhe. From January to June 2003 he worked as visiting researcher at Helsinki University of Technology, Finland. Since July 2003 he is employed at University of Kaiserslautern where he finished his doctoral thesis entitled "Human-like Control of Dynamically Walking Bipedal Robots" in early 2010. His research interests focus on movement generation of complex robots (especially control of dynamic bipedal locomotion and robust manipulation skills), the transfer of concepts from nature to technical systems, and behavior-based robotics. Starting February 2010, he is working as PostDoc at Honda Research Institute Europe (HRI) within a collaboration project.
Tobias Luksch is a member of the German Computer Science Society (GI), the IEEE, and the IEEE Robotics and Automation Society (RAS). Further, he is co-initiator of the robotics compendium RRLib (Robotics Research Library).

Publications

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  • Learning a Reactive Posture Control on the Four-Legged Walking Machine BISAM.
    J Albiez, W Ilg, T Luksch, K Berns and R Dillmann
    International Conference on Intelligent Robots and Systems (IROS), (2001-Oct. 23 - Nov. 3)
  • Reactive Reflex Based Posture Control for a Four-Legged Walking Machine.
    J Albiez, T Luksch, W Ilg and K Berns
    Proceedings of the 4th International Conference on Climbing and Walking Robots (CLAWAR), (2001-September)
  • Verhaltensbasierte freie Gangart für eine vierbeinige Laufmaschine.
    T Luksch and University of Karlsruhe
    (2002)
  • Reactive reflex-based control for a four-legged walking machine.
    J Albiez, T Luksch, K Berns and R Dillmann
    Robotics and Autonomous Systems, Elsevier, (2003)
  • An Activation-Based Behavior Control Architecture for Walking Machines.
    Jan Albiez, Tobias Luksch, Karsten Berns and Rüdiger Dillmann
    The International Journal on Robotics Research, Sage Publications, Vol. 22, S. 203 - 211. (2003)
  • A Behaviour Network Concept for Controlling Walking Machines.
    Jan Albiez, Tobias Luksch, Karsten Berns and Rüdiger Dillmann
    2nd International Symposium on Adaptive Motion of Animals and Machines (AMAM), (2003-March 4-8)
  • Climbing Robots for Commercial Applications - a survey.
    K Berns, C Hillenbrand and T Luksch
    6th International Conference on Climbing and Walking Robots (CLAWAR), S. 771 - 776. (2003-September 17-19)
  • Combined Motion Control of the Platform and the Manipulator of WorkPartner.
    Tobias Luksch, Sami Ylönen and Aarne Halme
    6th International Conference on Climbing and Walking Robots (CLAWAR), S. 111 - 118. (2003-September 17-19)
  • Koordination von Lokomotion und Manipulatorbewegung des Roboters WorkPartner.
    T Luksch, S Ylönen and A Halme
    Autonome Mobile Systeme (AMS), (2003-December 4-5)
  • An Activation Based Behaviour Control Architecture for Walking Machines.
    J Albiez, T Luksch, K Berns and R Dillmann
    7th International Conference on Simulation of Adaptive Behavior, (2002)
  • Reactive Reflex based Control for a four-legged Walking Machine.
    J Albiez, T Luksch, W Ilg, K Berns and R Dillmann
    Intelligent Autonomous Systems 7, IOS-Press, (2002)
  • Hierarchical activation based behaviour architecture for a four-legged walking machine.
    J Albiez, T Luksch and K Berns
    5th International Conference on Climbing and Walking Robots (CLAWAR), (2002-September 25-27)
  • Entwicklung einer Fuzzy-Regelbasis zur Haltungskontrolle einer vierbeinigen Laufmaschine.
    T Luksch and Universität Karlsruhe, Forschungszentrum Informatik (FZI) Karlsruhe
    (2001-Juni)
  • Biomimicing motion control of the WorkPartner robot.
    A Halme, T Luksch and S Ylönen
    Industrial Robot (IFR), Vol. Vol. 31, Nr. 2, S. 209. (2004)
  • Behaviour-based Motion Control for Offroad Navigation.
    M Proetzsch, T Luksch and K Berns
    International Workshop on Humanitarian Demining (HUDEM), (2004-June 16-18)
  • Developing Climbing Robots for Education.
    K Berns, T Braun, C Hillenbrand and T Luksch
    Proceedings of the 7th International Conference on Climbing and Walking Robots (CLAWAR), S. 982 - 900. (2004-September 22-24)
  • Fault-Tolerant Behavior-Based Motion Control for Offroad Navigation.
    M Proetzsch, T Luksch and K Berns
    Proceedings of the 20th IEEE International Conference on Robotics and Automation (ICRA), S. 4697 - 4702. (2005-April 18-22)
  • Obstacle Detection and Avoidance for Mobile Outdoor Robotics.
    Bernd-Helge Schäfer, Tobias Luksch and Karsten Berns
    EOS Conference on Industrial Imaging and Machine Vision, (2005)
  • Selbstständige Erstellung einer abstrakten topologiebasierten Karte für die autonome Exploration.
    Kalle Kleinlützum, Tobias Luksch, Daniel Schmidt and Karsten Berns
    Autonome Mobile Systeme (AMS) 2005, S. 149 - 155. (2005-December)
  • Autonomous Behavior-Based Exploration of Office Environments.
    Daniel Schmidt, Tobias Luksch, Jens Wettach and Karsten Berns
    Proceedings of the 3rd International Conference on Informatics in Control, Automation and Robotics (ICINCO), S. 235 - 240. (2006-August 1-5)
  • Actuation System and Control Concept for a Running Biped.
    T Luksch, K Berns and F Flörchinger
    Fast Motions in Biomechanics and Robotics, (2005-September 7-9)
  • The Behaviour-Based Control Architecture iB2C for Complex Robotic Systems.
    Martin Proetzsch, Tobias Luksch and Karsten Berns
    Proceedings of the 30th Annual German Conference on Artificial Intelligence (KI), S. 494 - 497. (2007-September 10-13)
  • Using Optimization Techniques for the Design and Control of Fast Bipeds.
    T Luksch, K Berns, K Mombaur and G Schultz
    Proceedings of the 10th International Conference on Climbing and Walking Robots (CLAWAR), (2007-July 16-18)
  • The Behaviour-Based Control Architecture iB2C for Complex Robotic Systems (extended version).
    M Proetzsch, T Luksch and K Berns
    (2007)
  • Autonome Mobile Systeme 2007.
    K Berns and T Luksch
    Informatik aktuell, (2007-October 18-19)
    http://www.springer.com/computer/ai/book/978-3-540-74763-5
  • Controlling Dynamic Motions of Biped Robots with Reflexes and Motor Patterns.
    T Luksch and K Berns
    Fourth International Symposium on Adaptive Motion of Animals and Machines (AMAM), S. 115 - 116. (2008-June 1-6)
  • Initiating Normal Walking of a Dynamic Biped with a Biologically Motivated Control.
    T Luksch and K Berns
    Proceedings of the 11th International Conference on Climbing and Walking Robots (CLAWAR), (2008-September 8-10)
  • Biological Motivated Control Architecture and Mechatronics for a Humanlike Robot.
    Thomas Wahl, Sebastian Blank, Tobias Luksch and Karsten Berns
    Advances in Robotics Research - Theory, Implementation, Application, S. 179. (2009-June)
  • A Behaviour Network Concept for Controlling Walking Machines.
    J Albiez, T Luksch, K Berns and R Dillmann
    Adaptive Motion of Animals and Machines, S. 237 - 244. (2006)
  • Biologically Inspired Compliant Control of a Monopod Designed for Highly Dynamic Applications.
    Sebastian Blank, Thomas Wahl, Tobias Luksch and Karsten Berns
    IEEE/RSJ International Conference on Intelligent Robots and Systems, S. 148. (2009-October)
  • Poster. Biological Motivated Control Architecture and Mechatronics for a Humanlike Robot.
    Thomas Wahl, Sebastian Blank, Tobias Luksch and Karsten Berns
    (2009-March)
  • Development of Complex Robotic Systems Using the Behavior-Based Control Architecture iB2C.
    Martin Proetzsch, Tobias Luksch and Karsten Berns
    Robotics and Autonomous Systems, Vol. 58, Nr. 1, S. 46 - 67. (2010-January)
  • Human-like Control of Dynamically Walking Bipedal Robots.
    T Luksch and University of Kaiserslautern
    (2009-October)
  • Human-like Control of Dynamically Walking Bipedal Robots.
    Tobias Luksch
    RRLab Dissertations, Verlag Dr. Hut (2010)
    http://www.dr.hut-verlag.de/978-3-86853-607-2.html
  • Control of Bipedal Walking Exploiting Postural Reflexes and Passive Dynamics.
    T Luksch and K Berns
    IEEE International Conference on Applied Bionics and Biomechanics (ICABB), (2010)
  • Controlling Human-like Locomotion of a Biped by a Biologically Motivated Approach.
    Jie Zhao, Tobias Luksch and Karsten Berns
    14th International Conference on Climbing and Walking Robots (CLAWAR) , (2011-September 6-8)
  • A Dynamical Systems Approach to Adaptive Sequencing of Movement Primitives.
    Tobias Luksch, Michael Gienger, Manuel Mühlig and Takahide Yoshiike
    Proceedings of the 7th German Conference on Robotics (ROBOTIK), (2012-May 21-22)
  • Adaptive Movement Sequences and Predictive Decisions based on Hierarchical Dynamical Systems.
    Tobias Luksch, Michael Gienger, Manuel Mühlig and Takahide Yoshiike
    25th IEEE/RSL International Conference on Intelligent Robots and Systems (IROS), (2012-October 7-12)
  • Modeling and Control of Dynamically Walking Bipedal Robots.
    Tobias Luksch and Karsten Berns
    Modeling, Simulation and Optimization of Bipedal Walking, S. 131 - 143. (2012)

 

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