@INPROCEEDINGS{2012:IEEE-BioRob_VTS,
  author = {J. Schuy and P. Beckerle and J. Wojtusch and S. Rinderknecht and O. von Stryk},
  title = {Conception and evaluation of a novel variable torsion stiffness for biomechanical applications},
  year = {2012},
  pages = {to appear},
  booktitle = {4th IEEE RAS/EMBS Intl. Conf. on Biomedical Robotics and Biomechatronics (BioRob)},
  abstract = {Abstract—This paper proposes a novel variable torsion stiffness (VTS) aiming on biomechanical applications like prosthetic knee joints. By varying the effective length of a torsional elastic element via a relocatable counter bearing, the stiffness of a rotational joint is adjusted. This functional concept is described in detail by the authors as well as the design of such VTS joints. Additionally, analytical models for the transfer behaviour of drivetrain and stiffness control are derived. These are used for a simulative evaluation of a pendulum driven by a VTS unit. Based on the results of this simulation, the power requirements of VTS are analysed. Furthermore, an analysis of its structural strength is presented. For practical comprehensibility, the example of the design of a prosthetic knee joint is taken up for several times in this paper. Finally, the concept, modeling and design of VTS as well as the simulation results are concluded and discussed in a final assessment and in comparison to other contemporary concepts.},
}

@TECHREPORT{2012:dd_tdp,
  author = {J. Kuhn and S. Kohlbrecher and K. Petersen and D. Scholz and J. Wojtusch and O. von Stryk},
  title = {Team Description for Humanoid KidSize League of RoboCup 2012 },
  year = {2012},
  institution = {Technische Universität Darmstadt},
  abstract = {This paper describes the hardware and software design and developments of the kidsize humanoid robot systems of the Darmstadt Dribblers in 2012. The robots are used as a vehicle for research in humanoid robotics and teams of cooperating, autonomous robots. The Humanoid League of RoboCup provides an ideal testbed for investigation of topics like stability, control and versatility of humanoid locomotion, behavior control of autonomous humanoid robots and robot teams with many degrees of freedom and many actuated joints, perception and world modeling based on very limited human-like, external sensing abilities as well as benchmarking of autonomous robot performance. The methodologies developed by the Darmstadt Dribblers to address reflex and cognitive control layers, image processing, perception, world modeling, behavior and motion control, robot simulation, monitoring, debugging and bio-inspired humanoid robot bodyware are briefly discussed. },
}

@TECHREPORT{2011:dd_tdp,
  author = {M. Friedmann and J. Kuhn and S. Kohlbrecher and K. Petersen and D. Scholz and D. Thomas and J. Wojtusch and O. von Stryk},
  title = {Darmstadt Dribblers - Team Description for Humanoid KidSize League of RoboCup 2011},
  year = {2011},
  institution = {Technische Universität Darmstadt},
  abstract = {This paper describes the hardware and software design and developments of the kidsize humanoid robot systems of the Darmstadt Dribblers in 2011. The robots are used as a vehicle for research in humanoid robotics and teams of cooperating, autonomous robots. The Humanoid League of RoboCup provides an ideal testbed for investigation of topics like stability, control and versatility of humanoid locomotion, behavior control of autonomous humanoid robots and robot teams with many degrees of freedom and many actuated joints, perception and world modeling based on very limited human-like, external sensing abilities as well as benchmarking of autonomous robot performance. The methodologies developed by the Darmstadt Dribblers to address reflex and cognitive control layers, image processing, perception, world modeling, behavior and motion control, robot simulation, monitoring and debugging are briefly discussed.},
}

@ARTICLE{2011:MochizukiWojtuschTakahashiNakamuraIEICE,
  author = {H. Mochizuki and J. Wojtusch and S. Takahashi and H. Nakamura},
  title = {Design of Distributed Control System Using Reconfiguration Method},
  journal = {IEICE Technical Report},
  year = {2008},
  volume = {108},
  number = {125},
  pages = {25-28},
  month = {July},
  abstract = {At present, distributed control system that realizes more advanced work in real time is noted. This time, to distributed control system, we applied reconfiguration method which inherits functions using calculation resource margin of other PCs. As a result, we realized improvement of reliability without using standby PCs. And we verified basic functions of proposal method using distributed control system that configured by some microcomputers and sensors.},
}

@INPROCEEDINGS{2008:WojtuschMochizukiTakahashiNakamuraNordmannEISC,
  author = {J. Wojtusch and H. Mochizuki and S. Takahashi and H. Nakamura and R. Nordmann},
  title = {The Concept and Implementation of the PROTEUS System},
  year = {2008},
  booktitle = {Electronics, Information and Systems Conference},
  abstract = {The PROTEUS System is a recent scheme for reliable distributed controller or computer networks, that was developed and enhanced at the Nakamura and Takahashi Laboratory of the Nihon University. It is designed to work without any redundant units and is able to improve the reliableness of a system. The concept is based on universal units, that can replace the tasks in a multi-processor network among each other by reconfiguring the network and the unit setup. This ability keeps in case of a breakdown of one or more units the whole system in a save state. The PROTEUS System is still a theoretical scheme and in current development. In order to improve the concept and compare different approaches of the system the model has to be tested in a real application. For the further research a mechatronical general purpose test environment was developed, that can be adapted to the needs of the tested specification of the concept. During the design process particular attention was paid to the ability of reconfiguration of the network and the controller tasks. The first implementation of the concept instantiates a reduced approach, that uses only some of the provided functions of the test application.},
}