Jasper Güldenstein

University of Hamburg | UHH · Department of Informatics

Navigation is a crucial component of any mobile robot. For humanoid robots, this task is more challenging than for wheeled robots. Their capabilities can not be modeled by the velocity and acceleration limits used for wheeled navigation, as the discrete nature of taking steps interferes with the assumption that acceleration is possible at any time....

We present a dataset specifically designed to be used as a benchmark to compare vision systems in the RoboCup Humanoid Soccer domain. The dataset is composed of a collection of images taken in various real-world locations as well as a collection of simulated images. It enables comparing vision approaches with a meaningful and expressive metric. The...

We present our open humanoid robot platform Wolfgang. The described hardware focuses on four aspects. Firstly, the robustness against falls is improved by integrating 3D printed elastic elements. Additionally, a high control loopfrequency is achieved by using new custom control electronics. Furthermore, a torsion spring is applied to reduce the tor...

We present a dataset specifically designed to be used as a benchmark to compare vision systems in the RoboCup Humanoid Soccer domain. The dataset is composed of a collection of images taken in various real-world locations as well as a collection of simulated images. It enables comparing vision approaches with a meaningful and expressive metric. The...

This extended abstract describes the current research of the Hamburg Bit-Bots Humanoid KidSize RoboCup team, lessons learned from last years competition and improvements planned for 2020. In the RoboCup 2019 competition, we had recently installed new cameras on the robots with a new 3D printed head. These heads sometimes broke when the robot fell....

High-frequency control loops are necessary to improve agility and reactiveness of robots. One of the common limiting bottlenecks is the communication with the hardware, i.e., reading of sensors values and writing of actuator commands. In this paper, we investigate the performance of devices using the widespread Robotis Dynamixel protocol via an RS-...

High-frequency control loops are necessary to improve agility and reactiveness of robots. One of the common limiting bottlenecks is the communication with the hardware, i.e., reading of sensors values and writing of actuator commands. In this paper, we investigate the performance of devices using the widespread Robotis Dynamixel protocol via an RS-...

An accurate kinematic model is crucial for all robotics applications utilizing forward or inverse kinematics. These applications include but are not limited to motion planning, many types of sensor data processing, and simulation. Accuracy is especially required for the transforms between the sensors and the robot's internal reference frame to calc...

This team description paper presents the developments made by the joint team Hamburg Bit-Bots & WF-Wolves. We present new software approaches we programmed and evaluated, like the Dynamic Stack Decider (DSD), our advances in image processing and our improvements to the walking engine. Additionally the newly developed foot pressure sensors as well a...