PhD graduate of the Autonomous
Intelligent Systems Group
Bachelor of Engineering (Mechatronic) with first-class honours
Bachelor of Mathematical and Computer Sciences
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
| 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, 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.
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 |
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 |
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 |
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.
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.
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.
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.
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.
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.
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.
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.
DE University of Bonn, Institute for Computer Science , Computer Science VI - Intelligent Systems and Robotics Imprint Data Protection Policy