Ongoing Research Projects Supported by Third-Party Funds

EUROSTARS Project: Highly mobile autonomous robots for remote monitoring of plants in explosive atmospheres
Contact: M.Sc. Alexander Stumpf
Cooperative project funded by European Union and Federal Ministry of Education and Research
LOEWE SME Integrated Project: Next Generation of Ultra Lightweight Robot Arms for Safe Human-Roboter-Cooperation (NextGenRob)
Contact: M.Sc. Jérôme Kirchhoff
Funded through State of Hessen
LOEWE SME Integrated Project: Modular Orthopedic Means with Robust EMG and Force Sensing (MorHRoSe)
Contact:Dipl.-Ing. Janis Wojtusch
Funded through State of Hessen
LOEWE Focus Area: Networked Infrastructureless Cooperation for Emergency Response
Contact:Dr.-Ing. Stefan Kohlbrecher
Funded through State of Hessen
ARGOS Challenge: Team ARGONAUTS
Contact:Prof. Dr. Oskar von Stryk
Funded through TOTAL
DARPA Robotics Challenge: Team ViGIR
Contact: Dipl.-Inform. Stefan Kohlbrecher, Prof. Dr. Oskar von Stryk
Funded through DARPA Robotics Challenge, Track B.
ESA/ESOC NPI Project: Autonomy for Space Missions
Contact:M.Sc. Juan Manuel Delfa Victoria
Funded by European Space Agency.
DFG Research Training Group (PhD program) 1362: Cooperative, adaptive and responsive monitoring in mixed mode environments
Contact:Prof. Dr. Oskar von Stryk (Speaker)

Dipl. Inf. Stefan Kohlbrecher
M. Sc. Alexander Stumpf

The interdisciplineary research training group (Ph.D. program) investigates fundamental research topics arising from the scientific challenges involved in scenarios of monitoring a potentially weakly structured and dynamically changing environment by networks of heterogeneous, stationary and mobile sensor and robotic systems. . 
Project Homepage ]
Exzellence Initiative Graduate School Computational Engineering
Contact:Prof. Dr. Oskar von Stryk
Funded by the excellence initiative of the German Federal and State Governments. 
DFG-Project STR 533/7-1: Elastic, bionic inspired, two-legged robots (BioBiped)
Contact:Dr.-Ing. Katayon Radkhah 
Dipl.-Inform. Dorian Scholz

FiF-Project: Enabling Technologies for User-friendly, Energy-efficient, Active Prosthetic Legs

Contact:Dipl.-Ing. Janis Wojtusch
Transfemoral amputees want an adequate replacement for the missing limbs, which enables a natural gait and can be integrated into the user's body image. A promising approach to comply with these requirements is the application of prosthetic devices with integrated actuators to support the user's motion sequences. In this project, enabling technologies for the design and implementation of user-friendly, energy-efficient, active leg prostheses are researched.

Research Center Computational Engineering

The computer aided modeling, simulation and optimization enables the investigation of complex, engineering systems and natural phenomena which would be too expensive, too dangerous or even impossible to study by direct experimentation.

Completed Research Projects 

Cooperating teams of autonomous, mobile legged robots in a dynamic environment

Contact:Dipl.-Inform. Dorian Scholz

Our two RoboCup teams and multiple times world champions:

The four-legged robot team Darmstadt Dribbling Dackels (DDD) and the humanoid robot team Darmstadt Dribblers (DD) 

DFG-Project STR 533/3-1, 8-1: Modeling and simulation of human motion using efficient forward dynamics simulation (and optimization)
Contact:Dipl.-Ing. Janis Wojtusch
The modeling of the time dependent, dynamic behavior of the human musculoskeletal system results in a large scale mechanical multibody system. This consists of submodels for the skeleton, wobbling masses, muscles and tendons as redundant actuators. Optimization models are required for the simulation of the muscle groups involved in a motion.

DFG-Projekt STR 533/5-1, 5-2: Dynamics modeling, parameter identification, and optimal robot trajectory planning for compensation of displacement

 

Contact:partner:Dr.-Ing. Christian Reinl

since 2007 within the focal research program 1180 ProWeSP

For precise milling application of work pieces industrial robots are applicable limitedly due to their elastic resilience. Now, Deviations are simulated and corrected by optimization methods considering a mathematical model, that reproduces static and dynamic interactions of robot and milling process.

Simulation and detection of collisions in pipe-bending machines

Contact:Dipl.-Inform. Martin Friedmann
Funded by Tracto-Technik GmbH & Co. KG, Lennestadt (2008/2009)

BMBF Project : BioRob - Bionic robot manipulators for opening up new applications for automation technology

Contact:Dipl.-Biol. Sebastian Klug
Dipl.-Ing. Thomas Lens
Cooperative project funded by the Federal Ministry of Education and Research (BMBF) in cooperation with TETRA GmbH, Ilmenau, Fraunhofer Institute for Biomedical Engineering (IBMT), Sulzbach, Universität des Saarlandes, Saarbrücken, Seidel GmbH+Co.KG, Marburg, agricola GbR, Vechta-Langförden
Project Homepage ]

Improvement of the absolute positioning accuracy of industrial robots through compensation of thermal and other negative effects 

Contact:Dipl.-Math. Thomas Hemker 
Funded by a medium-size company .

 

Camera based positioning of the endeffector of a manipulator

Completed since September 2005

funded by ISRA Vision Systems AG, Darmstadt

Application of functional principles of a biological arm model to the engineering design of a "bionic robot" (in German)

 

Completed since November 2004

Project supported by BMBF in cooperation with the University of Saarbrücken and GPS GmbH, Stuttgart


Modeling, simulation and optimization of the dynamics of electronically coupled platoons of motor vehicles (in German) 

Project supported by BMBF in cooperation with DaimlerChrysler, Untertürkheim, and TESIS DYNAware GmbH, München

Optimization of dynamical systems with continuous and discrete control variables

Project STR 533/1-1 of the DFG Focal Research Program Analysis and Synthesis of Discrete-Continuous Systems (KONDISK) (in German)

Optimal guidance and control of full car dynamics simulations in real-time

 

Project supported by BMBF in cooperation with BMW AG, München, and TESIS DYNAware GmbH, München

 

Optimal semi-active suspension with controllable electro-rheological fluid dampers

Project of the Collaborative Research Center 438, TU München

Parameter identification, trajectory optimization, and real time control of industrial robots

 

Project supported by BMBF in cooperation with BMW AG, München



Numerical Simulation of the dynamical behavior of complex vehicle structures and vehicles with trailers: Parallelization, real-time simulation and parameter identification (in German)

Project of FORTWIHR, industrial partner TESIS DYNAware GmbH

Optimization methods for the design of the vehicle powertrain with minimum fuel consumption

Project of FORTWIHR, industrial partner BMW AG, München

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