Philipp Allgeuer

PhD graduate of the Autonomous Intelligent Systems Group
Bachelor of Engineering (Mechatronic) with first-class honours
Bachelor of Mathematical and Computer Sciences

Projects

Humanoid soccer robot research:

http://www.ais.uni-bonn.de/nimbro/Humanoid

Humanoid robot platforms:

http://www.nimbro.net/OP
igus Humanoid Open Platform
NimbRo-OP
NimbRo-OP2
NimbRo-OP2X

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PhD Thesis

Title:	Analytic Bipedal Walking with Fused Angles and Corrective Actions in the Tilt Phase Space
Year:	2020

Submitted version (253 pages):	[PDF]  [BIB]  [BONNDOC]
Extended version (571 pages):	[PDF]  [BIB]  [ARXIV]

Fused Angles / Tilt Phase Space

Fused angles, like quaternions and rotation matrices, are a way of representing 3D rotations. They split up a rotation into three main components, fused yaw, fused pitch and fused roll, and give insight into how a body is rotated in each of the three major planes. Fused angles were developed in the context of balance, and far surpass Euler angles for this purpose, but have since found numerous other applications. The tilt phase space is similarly a novel way of representing 3D rotations, and is to rotations what fused angles is to orientations.

Introduction to Fused Angles:	Fused Angles Reference Manual [BIB]
The Tilt Phase Space:	Tilt Rotations and the Tilt Phase Space [BIB]
Why not Euler Angles?	Fused angles vs. Euler angles [BIB]
All the details in one place:	Extended version of PhD thesis (see Chapters 5-7) [BIB]

All of the gait, kicking, fall protection and attitude estimation modules in the official igus Humanoid Open Platform software rely on the concept of fused angles and/or the tilt phase space.

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RoboCup Competition

RoboCup 2018 in Montréal (Canada)
1st AdultSize Main competition (2:0) 1st AdultSize Technical challenge 1st AdultSize Drop-in challenge Best Humanoid Award 2018	AdultSize Winners Video 2018 AdultSize Finals Video 2018 AdultSize Semi-finals Video 2018 AdultSize Qualification Video 2018
RoboCup 2017 in Nagoya (Japan)
1st AdultSize Main competition (11:1) 1st AdultSize Technical challenge 1st TeenSize Main competition (2:0) 1st TeenSize Technical challenge 1st TeenSize Drop-in challenge RoboCup Design Award 2017	AdultSize Winners Video 2017 AdultSize Finals Video 2017 AdultSize Qualification Video 2017 TeenSize Winners Video 2017 TeenSize Qualification Video 2017
RoboCup 2016 in Leipzig (Germany)
1st TeenSize Main competition (9:0) RoboCup HARTING Open Source Award 2016	TeenSize Winners Video 2016 TeenSize Finals Video 2016 TeenSize Qualification Video 2016
RoboCup 2015 in Hefei (China)
RoboCup Design Award 2015	TeenSize Qualification Video 2015
RoboCup 2014 in João Pessoa (Brazil)
2nd TeenSize Main competition (4:8)	TeenSize Finals Video 2014 TeenSize Qualification Video 2014
RoboCup 2013 in Eindhoven (Netherlands)
1st TeenSize Main competition (4:0) 1st TeenSize Technical challenge RoboCup HARTING Open Source Award 2013	TeenSize Winners Video 2013 TeenSize Finals Video 2013 TeenSize Qualification Video 2013

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Software Releases

igus Humanoid Open Platform ROS Software: A ROS-based software framework for the igus Humanoid Open Platform, NimbRo-OP2 and NimbRo-OP2X. [BIB]

Authors:	Team NimbRo
Paper:	Child-sized 3D Printed igus Humanoid Open Platform [PDF] [BIB]
Paper:	NimbRo-OP2: Grown-up 3D Printed Open Humanoid Platform for Research [PDF] [BIB]
Paper:	NimbRo-OP2X: Adult-sized Open-source 3D Printed Humanoid Robot [PDF] [BIB]
URL:	https://github.com/AIS-Bonn/humanoid_op_ros

Rotations Conversion Library: A library for working with 3D rotations in C++, in particular supporting fused angles, tilt angles and the tilt phase space. [BIB]

Authors:	Philipp Allgeuer
Paper:	Fused Angles: A Representation of Body Orientation for Balance [PDF] [BIB]
Paper:	Tilt Rotations and the Tilt Phase Space [PDF] [BIB]
Paper:	Fused Angles and the Deficiencies of Euler Angles [PDF] [BIB]
URL:	https://github.com/AIS-Bonn/rot_conv_lib

Matlab/Octave Rotations Library: A library for working with 3D rotations in Matlab/Octave, in particular supporting fused angles, tilt angles and the tilt phase space. [BIB]

Authors:	Philipp Allgeuer
Paper:	Fused Angles: A Representation of Body Orientation for Balance [PDF] [BIB]
Paper:	Tilt Rotations and the Tilt Phase Space [PDF] [BIB]
Paper:	Fused Angles and the Deficiencies of Euler Angles [PDF] [BIB]
URL:	https://github.com/AIS-Bonn/matlab_octave_rotations_lib

Attitude Estimator: A C++ implementation of a 3D IMU fusion algorithm based on nonlinear passive complementary filtering. [BIB]

Authors:	Philipp Allgeuer
Paper:	Robust Sensor Fusion for Robot Attitude Estimation [PDF] [BIB]
URL:	https://github.com/AIS-Bonn/attitude_estimator

State Controller Library: A C++ framework that implements generalised finite state machines and allows planning and enqueuing of future states. [BIB]

Authors:	Philipp Allgeuer
Paper:	Hierarchical and State-based Architectures for Robot Behavior Planning and Control [PDF] [BIB]
URL:	https://github.com/AIS-Bonn/state_controller_library

Behaviour Control Framework: A C++ framework that uses behaviours coordinated by inhibition trees for behaviour control. [BIB]

Authors:	Philipp Allgeuer
Paper:	Hierarchical and State-based Architectures for Robot Behavior Planning and Control [PDF] [BIB]
URL:	https://github.com/AIS-Bonn/behaviour_control_framework

NimbRo-OP ROS Software: A ROS software framework for the NimbRo-OP robot, targeted at robot soccer. [BIB]

Authors:	Team NimbRo
Paper:	A ROS-based Software Framework for the NimbRo-OP Humanoid Open Platform [PDF] [BIB]
URL:	https://github.com/NimbRo/nimbro-op-ros

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Hardware Releases

NimbRo-OP2[X] Hardware: CAD files for the NimbRo-OP2 and NimbRo-OP2X hardware. [BIB]

Authors:	Team NimbRo
Paper:	NimbRo-OP2: Grown-up 3D Printed Open Humanoid Platform for Research [PDF] [BIB]
Paper:	NimbRo-OP2X: Adult-sized Open-source 3D Printed Humanoid Robot [PDF] [BIB]
URL:	https://github.com/NimbRo/nimbro-op2

igus Humanoid Open Platform Hardware: CAD files for the igus Humanoid Open Platform hardware. [BIB]

Authors:	igus GmbH (with input of team NimbRo)
Paper:	Child-sized 3D Printed igus Humanoid Open Platform [PDF] [BIB]
URL:	https://github.com/igusGmbH/HumanoidOpenPlatform

NimbRo-OP Hardware: CAD files for the NimbRo-OP hardware. [BIB]

Authors:	Team NimbRo
Paper:	Humanoid TeenSize Open Platform NimbRo-OP [PDF] [BIB]
URL:	https://github.com/NimbRo/nimbro-op

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Publications

2020

Grzegorz Ficht, Hafez Farazi, Diego Rodriguez, Dmytro Pavlichenko, Philipp Allgeuer, André Brandenburger and Sven Behnke:
Nimbro-OP2X: Affordable Adult-Sized 3D-Printed Open-Source Humanoid Robot for Research  [PDF]  [BIB]
International Journal of Humanoid Robotics (IJHR), volume 17, number 5, 2020.

2019

Hafez Farazi, Grzegorz Ficht, Philipp Allgeuer, Dmytro Pavlichenko, Diego Rodriguez, André Brandenburger, Mojtaba Hosseini and Sven Behnke:
NimbRo Robots Winning RoboCup 2018 Humanoid AdultSize Soccer Competitions  [PDF]  [BIB]
RoboCup 2018: Robot World Cup XXII, LNCS 11374, pp. 436-449, Springer, 2019.

2018

Philipp Allgeuer and Sven Behnke:
Bipedal Walking with Corrective Actions in the Tilt Phase Space  [PDF]  [BIB]  [PPT]  [VIDEO]  [CODE]
18th International Conference on Humanoid Robots (Humanoids), Beijing, China, 2018.

Philipp Allgeuer and Sven Behnke:
Tilt Rotations and the Tilt Phase Space  [PDF]  [BIB]  [PPT]  [MAT-CODE]  [CPP-CODE]
18th International Conference on Humanoid Robots (Humanoids), Beijing, China, 2018.

Philipp Allgeuer and Sven Behnke:
Fused Angles and the Deficiencies of Euler Angles  [PDF]  [BIB]  [PPT]  [VIDEO]  [MAT-CODE]  [CPP-CODE]
International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 2018.

Grzegorz Ficht, Hafez Farazi, André Brandenburger, Diego Rodriguez, Dmytro Pavlichenko, Philipp Allgeuer, Mojtaba Hosseini and Sven Behnke:
NimbRo-OP2X: Adult-sized Open-source 3D Printed Humanoid Robot  [PDF]  [BIB]  [PPT]  [VIDEO]  [CAD]  [CODE]
18th International Conference on Humanoid Robots (Humanoids), Beijing, China, 2018.

Hafez Farazi, Philipp Allgeuer, Grzegorz Ficht, Dmytro Pavlichenko, Diego Rodriguez and Sven Behnke:
NimbRo AdultSize Team Description 2018  [PDF]  [BIB]  [VIDEO]
University of Bonn, Technical report, 2018.

Diego Rodriguez, Hafez Farazi, Philipp Allgeuer, Dmytro Pavlichenko, Grzegorz Ficht, André Brandenburger, Johannes Kürsch and Sven Behnke:
Advanced Soccer Skills and Team Play of RoboCup 2017 TeenSize Winner NimbRo  [PDF]  [BIB]
RoboCup 2017: Robot World Cup XXI, LNCS 11175, pp. 435-447, Springer, 2018.

Grzegorz Ficht, Dmytro Pavlichenko, Philipp Allgeuer, Hafez Farazi, Diego Rodriguez, André Brandenburger, Johannes Kürsch, Michael Schreiber and Sven Behnke:
Grown-up NimbRo Robots Winning RoboCup 2017 Humanoid AdultSize Soccer Competitions  [PDF]  [BIB]
RoboCup 2017: Robot World Cup XXI, LNCS 11175, pp. 448-460, Springer, 2018.

2017

Grzegorz Ficht, Philipp Allgeuer, Hafez Farazi and Sven Behnke:
NimbRo-OP2: Grown-up 3D Printed Open Humanoid Platform for Research  [PDF]  [BIB]  [PPT]  [VIDEO]  [CAD]  [CODE]
17th International Conference on Humanoid Robots (Humanoids), Birmingham, England, 2017.

Philipp Allgeuer, Hafez Farazi and Sven Behnke:
NimbRo TeenSize Team Description 2017  [PDF]  [BIB]  [VIDEO]
University of Bonn, Technical report, 2017.

Grzegorz Ficht, Hafez Farazi and Sven Behnke:
NimbRo AdultSize Team Description 2017  [PDF]  [BIB]  [VIDEO]
University of Bonn, Technical report, 2017.

Philipp Allgeuer, Grzegorz Ficht, Hafez Farazi, Michael Schreiber and Sven Behnke:
First International HARTING Open Source Prize Winner: The igus Humanoid Open Platform  [PDF]  [BIB]  [CODE]
RoboCup 2016: Robot World Cup XX, LNCS 9776, pp. 625-633, Springer, 2017.

Hafez Farazi, Philipp Allgeuer, Grzegorz Ficht, André Brandenburger, Dmytro Pavlichenko, Michael Schreiber and Sven Behnke:
RoboCup 2016 Humanoid TeenSize Winner NimbRo: Robust Visual Perception and Soccer Behaviors  [PDF]  [BIB]
RoboCup 2016: Robot World Cup XX, LNCS 9776, pp. 478-490, Springer, 2017.

2016

Philipp Allgeuer and Sven Behnke:
Omnidirectional Bipedal Walking with Direct Fused Angle Feedback Mechanisms  [PDF]  [BIB]  [PPT]  [VIDEO]  [CODE]
16th International Conference on Humanoid Robots (Humanoids), Cancún, Mexico, 2016.

Philipp Allgeuer, Hafez Farazi, Grzegorz Ficht, Michael Schreiber and Sven Behnke:
The igus Humanoid Open Platform: A Child-sized 3D Printed Open-Source Robot for Research  [PDF]  [BIB]  [VIDEO]  [CAD]  [CODE]
German Journal on Artificial Intelligence (KI), volume 30, issue 3, 2016.

Hafez Farazi, Philipp Allgeuer, Grzegorz Ficht and Sven Behnke:
NimbRo TeenSize Team Description 2016  [PDF]  [BIB]  [VIDEO]
University of Bonn, Technical report, 2016.

2015

Philipp Allgeuer, Hafez Farazi, Michael Schreiber and Sven Behnke:
Child-sized 3D Printed igus Humanoid Open Platform  [PDF]  [BIB]  [PPT]  [VIDEO]  [CAD]  [CODE]
15th International Conference on Humanoid Robots (Humanoids), Seoul, Korea, 2015.

Philipp Allgeuer and Sven Behnke:
Fused Angles: A Representation of Body Orientation for Balance  [PDF]  [BIB]  [PPT]  [MAT-CODE]  [CPP-CODE]
International Conference on Intelligent Robots and Systems (IROS), Hamburg, Germany, 2015.

Hafez Farazi, Philipp Allgeuer and Sven Behnke:
A Monocular Vision System for Playing Soccer in Low Color Information Environments  [PDF]  [BIB]  [VIDEO]
10th Workshop on Humanoid Soccer Robots, International Conference on Humanoid Robots (Humanoids), Seoul, Korea, 2015.

Philipp Allgeuer, Marcell Missura and Sven Behnke:
NimbRo TeenSize Team Description 2015  [PDF]  [BIB]  [VIDEO]
University of Bonn, Technical report, 2015.

2014

Philipp Allgeuer and Sven Behnke:
Robust Sensor Fusion for Robot Attitude Estimation  [PDF]  [BIB]  [PPT]  [CODE]
14th International Conference on Humanoid Robots (Humanoids), Madrid, Spain, 2014.

Philipp Allgeuer and Sven Behnke:
Fused Angles for Body Orientation Representation  [PDF]  [BIB]  [PPT]  [MAT-CODE]  [CPP-CODE]
9th Workshop on Humanoid Soccer Robots, International Conference on Humanoid Robots (Humanoids), Madrid, Spain, 2014.

Marcell Missura, Philipp Allgeuer, Michael Schreiber, Cedrick Münstermann, Max Schwarz, Sebastian Schueller and Sven Behnke:
NimbRo TeenSize 2014 Team Description  [PDF]  [BIB]  [VIDEO]
University of Bonn, Technical report, 2014.

Marcell Missura, Cedrick Münstermann, Philipp Allgeuer, Max Schwarz, Julio Pastrana, Sebastian Schueller, Michael Schreiber and Sven Behnke:
Learning to Improve Capture Steps for Disturbance Rejection in Humanoid Soccer  [PDF]  [BIB]
RoboCup 2013: Robot World Cup XVII, LNCS 8371, pp. 56-67, Springer, 2014.

2013

Philipp Allgeuer and Sven Behnke:
Hierarchical and State-based Architectures for Robot Behavior Planning and Control  [PDF]  [BIB]  [PPT]  [CODE-BCF]  [CODE-SCL]
8th Workshop on Humanoid Soccer Robots, International Conference on Humanoid Robots (Humanoids), Atlanta, USA, 2013.

Philipp Allgeuer, Max Schwarz, Julio Pastrana, Sebastian Schueller, Marcell Missura and Sven Behnke:
A ROS-based Software Framework for the NimbRo-OP Humanoid Open Platform  [PDF]  [BIB]  [PPT]  [CODE]
8th Workshop on Humanoid Soccer Robots, International Conference on Humanoid Robots (Humanoids), Atlanta, USA, 2013.

Max Schwarz, Julio Pastrana, Philipp Allgeuer, Michael Schreiber, Sebastian Schueller, Marcell Missura and Sven Behnke:
Humanoid TeenSize Open Platform NimbRo-OP  [PDF]  [BIB]  [VIDEO]
17th RoboCup International Symposium, Eindhoven, Netherlands, 2013.