Robotics Research Lab

Prof. Dr. Karsten Berns

Contact

Room 48-360

Tel.: +49 631 205 2613

e-mail:berns(at)cs.uni-kl.de

Robotics Research Lab
Department of Computer Science
Technische Universität Kaiserslautern
Postbox 3049
DE-67653 Kaiserslautern

Vita

Prof. Dr. Karsten Berns has studied computer science with a special focus on artificial intelligence at the University of Kaiserslautern (1982 to 1988). For his research on "Neural Networks for the Control of a six-legged Walking Machine" he received his PhD from the University of Karlsruhe in 1994. As head of the IDS (Interactive Diagnosis and Service Systems) department of the FZI Research Center for Information Technology, Karlsruhe (till 2003) he examined adaptive control concepts for different types of service robots. Since 2003 he is a full professor at the University of Kaiserslautern.

His present research activities are realization of reliable, complex autonomous robotic systems. In this regard, he and his research group are developing a robotic middleware, namely Finroc, a behavior-based control architecture, iB2C, as well as different validation and verification methodologies. The main application area is off-road robotics, in which autonomous or semi-autonomous vehicles like small trucks, excavators, harvesters, tractors, and rescue robots are under development.

Prof. Berns is a frequent reviewer of several journals and robotic conferences. Furthermore, he is a member of a number of editorial boards. He also acts as a reviewer for several national and international funding organizations. He is a member of the IEEE, the Gesellschaft für Informatik (GI) and the CLAWAR Association. He is a member of the executive committee of the German Robotics Association (DGR) and is leader of the technical committee for robotic systems of the GI. He has also served as a Dean of the department of computer science at the University of Kaiserslautern (2007-2010). He is a member of the scientific directorate Schloss Dagstuhl - Leibniz Center for Informatics of the Dagstuhl Seminar. Currently, he is the spokesperson of the Center for Commercial Vehicle Technology (ZNT) at the University of Kaiserslautern.

Publications (Excerpt)

2020

Sort by: Author, Year, Title

  • SLIP-Based Concept of Combined Limb and Body Control of Force-Driven Robots.
    Patrick Vonwirth, Atabak Nejadfard, Krzysztof Mianowski and Karsten Berns
    Advances in Service and Industrial Robotics, Vol. 84, S. 547 - 556. (2020)
  • Behavior-Based Obstacle Detection in Off-Road Environments Considering Data Quality.
    Patrick Wolf, Thorsten Ropertz and Karsten Berns
    Informatics in Control, Automation and Robotics, Vol. 495, S. 786 - 809. (2020)
  • Biologically Inspired Bipedal Locomotion - From Control Concept to Human-Like Biped.
    Patrick Vonwirth, Atabak Nejadfard and Karsten Berns
    Proceedings of 14th International Conference on Electromechanics and Robotics “Zavalishin’s Readings”, S. 3 - 14. (2020)
  • Crop edge detection based on stereo vision.
    Johannes Kneip, Patrick Fleischmann and Karsten Berns
    Robotics and Autonomous Systems, Vol. 123, S. 103323. (2020)
  • Autonome Off-Road Navigation von Nutzfahrzeugen. Erfahrungsbericht und Testergebnisse des CVC-Leitprojekts zum autonomen Fahrbetrieb von Nutzfahrzeugen im Off-Road-Bereich.
    Karsten Berns, Patrick Wolf and Steffen Hemer
    CVC News, Vol. 1, S. 4 - 10. (2020)
  • Evolution of robotic simulators. Using UE 4 to enable real-world quality testing of complex autonomous robots in unstructured environments.
    Patrick Wolf, Tobias Groll, Steffen Hemer and Karsten Berns
    Proceedings of the 10th International Conference on Simulation and Modeling Methodologies, Technologies and Applications (SIMULTECH 2020), S. 271 - 278. (2020)
  • Classification of Rocks inside a Rock Pile for Task Planning.
    Tobias Groll, Steffen Hemer and Karsten Berns
    8. Fachtagung Baumaschinentechnik 2020, (2020)
  • Simulation Platform for Crane Visibility Safety Assistance.
    Tanittha Sutjaritvorakul, Axel Vierling, Jakub Pawlak and Karsten Berns
    Advances in Service and Industrial Robotics, Vol. 84, (2020)
  • Advanced scene aware navigation for the heavy duty off-road vehicle Unimog.
    Patrick Wolf, Axel Vierling, Thorsten Ropertz and Karsten Berns
    The 9th International Conference on Advanced Concepts in Mechanical Engineering – ACME 2020. IOP Conference Series, Vol. 997, S. 1 - 18. (2020)
    DOI: 10.1088/1757-899x/997/1/012093
  • RADAR+RGB Fusion for Robust Object Detection in Autonomous Vehicles.
    Ritu Yadav, Axel Vierling and Karsten Berns
    Proceedings of the 27th IEEE International Conference on Image Processing (ICIP), (2020)
  • Towards High-Quality Road Construction. Using Autonomous Tandem Rollers for Asphalt Compaction Optimization.
    Jörg Husemann, Patrick Wolf, Axel Vierling, Karsten Berns and Peter Decker
    Proceedings of the 37th International Symposium on Automation and Robotics in Construction (ISARC), S. 90 - 97. (2020)
  • Autonomous Off-Road Navigation using Near-Feature-Based World Knowledge Incorporation on the Example of Forest Path Detection.
    Patrick Wolf, Axel Vierling, Thorsten Ropertz, Simon Velden, Carlos Guzman and Karsten Berns
    Preprint submitted to Robotics and Autonomous Systems, (2020)
  • Data-Driven Worker Detection from Load-View Crane Camera.
    Tanittha Sutjaritvorakul, Axel Vierling and Karsten Berns
    Proceedings of the 37th International Symposium on Automation and Robotics in Construction (ISARC), S. 864 - 871. (2020)
  • Pseudo-Randomization in Automating Robot Behaviour during Human-Robot Interaction.
    Sarwar Paplu, Chinmaya Mishra and Karsten Berns
    Proceedings of the 10th IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-ER2020), S. 120 - 125. (2020)
  • Wenn Autos fahren wie von Geisterhand. Off-Road-Bereich wird zur Herausforderung / Nutzen wäre aber enorm.
    Karsten Berns and Patrick Wolf
    KOMMUNALtopinform, Vol. 4, S. 62 - 63. (2020)

 

2019

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  • Segmentation of Very Sparse and Noisy Point Clouds.
    Patrick Fleischmann and Karsten Berns
    ICACR 2019, S. 119–124. (2019)
  • Crop Edge Detection based on Stereo Vision.
    Johannes Kneip, Patrick Fleischmann and Karsten Berns
    Intelligent Autonomous Systems 15 – Proceedings of the 15th International Conference IAS-15, Vol. 867, (2019)
  • Autonomous trenching with hierarchically organized primitives.
    Tobias Groll, Steffen Hemer, Thorsten Ropertz and Karsten Berns
    Automation in Construction, Vol. 98, S. 214 - 224. (2019)
  • White Paper. High Quality Road Construction using 5G-AMMCOA. Autonomous Mobile Machine Communication for Off-Road Applications.
    Patrick Wolf, Thorsten Ropertz, Karsten Berns and Peter Decker
    , S. 1 - 7. (2019)
  • Distributed Coordination and Task Assignment of Autonomous Tandem Rollers in Road Construction Scenarios.
    Patrick Wolf, Thorsten Ropertz, Alexander Matheis, Karsten Berns and Peter Decker
    36th International Symposium on Automation and Robotics in Construction (ISARC 2019), S. 953 - 960. (2019)
  • Combining Onthologies and Behavior-Based Control for Aware Navigation in Challenging Off-Road Environments.
    Patrick Wolf, Thorsten Ropertz, Philipp Feldmann and Karsten Berns
    Proceedings of the 16th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2019), S. 135 - 146. (2019)
    DOI: 10.5220/0007934301350146, ISBN: 9789897583803
  • Design of the musculoskeletal leg based on the physiology of mono-articular and biarticular muscles in the human leg.
    Atabak Nejadfard, Steffen Sch"utz, Krzysztof Mianowski, Patrick Vonwirth and Karsten Berns
    Bioinspiration & biomimetics, Vol. 14, Nr. 6, S. 066002. (2019)
  • Technische Grundlagen Eingebetteter Systeme. Elektronik, Systemtheorie, Komponenten und Analyse.
    Karsten Berns, Alexander Köpper and Bernd Schürmann
    (2019)
    https://www.springer.com/de/book/9783658265151 ISBN-13: 978-3-658-26515-1
  • Generation of Elevation Maps for Planning and Navigation of Vehicles in Rough Natural Terrain.
    Hannan Keen and Karsten Berns
    Advances in Service and Industrial Robotics, Vol. 980, S. 488 - 495. (2019)
    https://doi.org/10.1007/978-3-030-19648-6_56 ISBN: 978-3-030-19648-6

 

2018

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  • Behavior-Based Control for Safe and Robust Navigation of an Unimog in Off-Road Environments.
    Patrick Wolf, Thorsten Ropertz, Karsten Berns, Martin Thul, Peter Wetzel and Achim Vogt
    Commercial Vehicle Technology 2018. Proceedings of the 5th Commercial Vehicle Technology Symposium – CVT 2018, S. 63 - 76. (2018)
  • Cooperation and Communication of Autonomous Tandem Rollers in Street Construction Scenarios.
    Thorsten Ropertz, Patrick Wolf, Karsten Berns, Jochen Hirth and Peter Decker
    Commercial Vehicle Technology 2018. Proceedings of the 5th Commercial Vehicle Technology Symposium – CVT 2018, S. 25 - 36. (2018)
  • Combining Behavior-Based and Contract-Based Control Architectures for Behavior Optimization of Networked Autonomous Vehicles in Unstructured Environments.
    Sebastian Mu?ller, Patrick Wolf, Karsten Berns and Peter Liggesmeyer
    Commercial Vehicle Technology 2018. Proceedings of the 5th Commercial Vehicle Technology Symposium – CVT 2018, S. 324 - 335. (2018)
  • Auf dem Weg zur autonomen Straßenfertigung. Kooperation und Kommunikation von vollauto­matisierten Nutzfahrzeugen in der Baustelle von morgen am Beispiel von BOMAG Tandemwalzen..
    Karsten Berns, Patrick Wolf and Peter Decker
    CVC News, Vol. 1, S. 12 - 15. (2018)
  • Local Behavior-Based Navigation in Rough Off-Road Scenarios based on Vehicle Kinematics.
    Patrick Wolf, Thorsten Ropertz, Moritz Oswald and Karsten Berns
    2018 IEEE International Conference on Robotics and Automation (ICRA), S. 719 - 724. (2018)
    DOI: 10.1109/ICRA.2018.8460631
  • Coordination of the Biarticular Actuators Based on Instant Power in an Explosive Jump Experiment.
    Atabak Nejadfard, Steffen Schütz, Patrick Vonwirth, Krzysztof Mianowski and Karsten Berns
    IEEE International Conference on Advanced Intelligent Mechatronics (AIM), (2018)
  • Moment Arm Analysis of the Biarticular Actuators in Compliant Robotic Leg CARL.
    Atabak Nejadfard, Steffen Schütz, Patrick Vonwirth, Krzysztof Mianowski and Berns Karsten
    Conference on Biomimetic and Biohybrid Systems, S. 348 - 360. (2018)
  • Behavior-Based Low-Level Control for (semi-) Autonomous Vehicles in Rough Terrain.
    Thorsten Ropertz, Patrick Wolf and Karsten Berns
    Proceedings of ISR 2018, S. 386 - 393. (2018)
  • Real-Time Recognition of Human Postures for Human-Robot Interaction.
    Zuhair Zafar, Rahul Venugopal and Karsten Berns
    Proceedings of the 11th International Conference on Advances in Computer-Human Interactions (ACHI), S. 114 - 119. (2018)
  • Emotion Based Human-Robot Interaction.
    Karsten Berns and Zuhair Zafar
    Proceedings of the 13th International Scientific-Technical Conference on Electromechanics and Robotics "Zavalishin’s Readings" (ER(ZR)), (2018)
  • Real-time Recognition of Extroversion-Introversion Trait in Context of Human-Robot Interaction.
    Zuhair Zafar, Sarwar Paplu and Karsten Berns
    Advances in Service and Industrial Robotics, Vol. 67, S. 63 - 70. (2018)
    https://doi.org/10.1007/978-3-030-00232-9 ISBN: 978-3-030-00232-9
  • Crane safety system with monocular and controlled zoom cameras.
    Axel Vierling, Tanittha Sutjaritvorakul and Karsten Berns
    Proceedings of the 35th ISARC, Berlin, Germany, S. 873 - 879. (2018)
  • Behavior-Based Approach for Calculation of a Robot Arm’s Inverse Kinematics on a FPGA.
    Alexander Köpper and Karsten Berns
    Proceedings of ISR 2018, S. 306 - 313. (2018)
  • Backhoe Bucket Volume and Trench Monitoring using a Time-of-Flight Camera.
    Steffen Hemer, Tobias Groll and Karsten Berns
    7. Fachtagung Baumaschinentechnik 2018, (2018)
  • Automatic Assessment of Human Personality Traits. A Step towards Intelligent Human-Robot Interaction.
    Zuhair Zafar, Sarwar Paplu and Karsten Berns
    2018 IEEE-RAS 18th International Conference on Humanoid Robotics (Humanoids), S. 670 - 675. (2018)
  • Behavior-Based Local Path-Planning by Exploiting Inverse Kinematics on FPGA.
    Alexander Köpper and Karsten Berns
    Advances in Service and Industrial Robotics, S. 466 - 474. (2018)
  • Commercial Vehicle Technology 2018 – Proceedings of the 5th Commercial Vehicle Technology Symposium - CVT 2018.
    Karsten Berns, Klaus Dressler, Patrick Fleischmann, Daniel Görges, Ralf Kalmar, Bernd Sauer, Nicole Stephan, Roman Teutsch and Martin Thul
    (2018)
    https://doi.org/10.1007/978-3-658-21300-8

 

2017

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  • One Fits More - On the Relevance of Highly Modular Framework and Middleware Design for Quality Characteristics of Robotics Software.
    Max Reichardt, Steffen Schütz and Karsten Berns
    First IEEE International Conference on Robotic Computing (IRC), (2017)
  • Ability of Humanoid Robot to Perform Emotional Body Gestures.
    Djordje Urukalo, Ljubinko Kevac, Zuhair Zafar, Salah Al-Darraji, Aleksandar Rodić and Karsten Berns
    Advances in Service and Industrial Robotics, Vol. 49, S. 657 - 664. (2017)
    http://www.springer.com/gp/book/9783319612751 ISBN: 978-3-319-61275-1
  • Human Robot Interaction using Dynamic Hand Gestures.
    Zuhair Zafar, Daniel Villarreal, Salah Al-Darraji, Djordje Urukalo, Berns Karsten and Aleksandar Rodić
    Advances in Service and Industrial Robotics, Vol. 49, S. 647 - 656. (2017)
    http://www.springer.com/gp/book/9783319612751 ISBN: 978-3-319-61275-1
  • A Behavior-based Architecture for Excavation Tasks.
    Tobias Groll, Steffen Hemer, Thorsten Ropertz and Karsten Berns
    34th International Symposium on Automation and Robotics in Construction (ISARC), S. 1005 - 1012. (2017)
  • Quality-Based Behavior-Based Control for Autonomous Robots in Rough Environments.
    Thorsten Ropertz, Patrick Wolf and Karsten Berns
    Proceedings of the 14th International Conference on Informatics in Control, Automation and Robotics (ICINCO 2017), Vol. 1, S. 513 - 524. (2017)
  • CARL – A Compliant Robotic Leg Featuring Mono- and Biarticular Actuation.
    Steffen Schütz, Atabak Nejadfard, Krzysztof Mianowski, Patrick Vonwirth and Karsten Berns
    IEEE-RAS International Conference on Humanoid Robots, S. 289 - 296. (2017)
  • Autonomie in unwegsamem Gelände. Aktuelle Zwischenergebnisse des CVC-Leitprojekts zum autonomen Fahrbetrieb von Nutzfahrzeugen im Off-Road Bereich.
    Karsten Berns and Patrick Wolf
    CVC News, Vol. 2, S. 8 - 11. (2017)
  • Unmanned Ground Robots for Rescue Tasks.
    Karsten Berns, Atabak Nezhadfard, Massimo Tosa, Haris Balta and Geert Cubber
    Search and Resuce Robotics - From Theory to Practice, S. 53 - 76. (2017)
    http://www.intechopen.com/articles/show/title/unmanned-ground-robots-for-rescue-tasks ISBN: 978-953-51-3376-6
  • Behaviour-Based Inverse Kinematics Solver on FPGA.
    Alexander Köpper and Karsten Berns
    Proceedings of the 26th International Conference on Robotics in Alpe-Adria-Danube Region (RAAD), Vol. 49, S. 55 - 62. (2017)
  • Interactive Communication Between Human and Robot Using Nonverbal Cues.
    Salah Al-Darraji, Zuhair Zafar, Karsten Berns, Djordje Urukalo and Aleksandar Rodić
    Advances in Service and Industrial Robotics, Vol. 49, S. 673 - 680. (2017)
    http://www.springer.com/gp/book/9783319612751 ISBN: 978-3-319-61275-1
  • Bio-inspired Bipedal Speed Control in the B4LC System.
    Qi Liu, Kartikeya Karnatak and Karsten Berns
    Human-centric Robotics-Proceedings Of The 20th International Conference Clawar 2017, S. 349. (2017)
  • One Fits More - On Highly Modular Quality-Driven Design of Robotic Frameworks and Middleware.
    Max Reichardt, Steffen Schütz and Karsten Berns
    Journal of Software Engineering for Robotics (JOSER), Vol. 8, Nr. 1, S. 141 - 153. (2017)
  • Proceedings DGR Days 2017.
    Tamin Asfour
    (2017)
    http://dgr2017.informatik.uni-bremen.de/wp-content/uploads/2017/11/Proceedings-DGR-Days-2017.pdf

 

complete list of publications

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