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ORCIDTorsten Kröger
Torsten Kroeger
Person information
- affiliation: Karlsruhe Institute of Technology, Germany
- affiliation (former): Stanford University, USA
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Books and Theses
- 2010
[b1]Torsten Kröger:
On-Line Trajectory Generation in Robotic Systems - Basic Concepts for Instantaneous Reactions to Unforeseen (Sensor) Events. Springer Tracts in Advanced Robotics 58, Springer 2010, ISBN 978-3-642-05174-6, pp. 1-184 [contents]
Journal Articles
- 2024
- [j15]Torsten Kroeger
, Brian P. Gerkey, Paul Goldberg, Todd D. Murphey, Frank Park:
A New RAS Journal: IEEE Robotics and Automation Practice [Society News]. IEEE Robotics Autom. Mag. 31(1): 141-142 (2024) - 2022
- [j14]Tom Philip Huck, Christoph Ledermann, Torsten Kröger:
Testing Robot System Safety by Creating Hazardous Human Worker Behavior in Simulation. IEEE Robotics Autom. Lett. 7(2): 770-777 (2022) - 2021
- [j13]Wolfgang Wiedmeyer, Philipp Altoé, Jonathan Auberle, Christoph Ledermann, Torsten Kröger:
A Real-Time-Capable Closed-Form Multi-Objective Redundancy Resolution Scheme for Seven-DoF Serial Manipulators. IEEE Robotics Autom. Lett. 6(1): 431-438 (2021) - 2020
- [j12]Jing Xiao, Torsten Kröger, Oussama Khatib:
ISER 2018 Editorial. Int. J. Robotics Res. 39(10-11) (2020) - [j11]Lars Berscheid, Pascal Meißner, Torsten Kröger:
Self-Supervised Learning for Precise Pick-and-Place Without Object Model. IEEE Robotics Autom. Lett. 5(3): 4828-4835 (2020) - 2017
- [j10]Torsten Kröger, Samir Menon, Katja D. Mombaur, Hanna Kurniawati, Marco Pavone:
Special issue on selected and extended papers from SIMPAR 2016. Adv. Robotics 31(22): 1157-1158 (2017) - 2015
- [j9]Fabrizio Flacco, Torsten Kroeger, Alessandro De Luca, Oussama Khatib:
A Depth Space Approach for Evaluating Distance to Objects - with Application to Human-Robot Collision Avoidance. J. Intell. Robotic Syst. 80(Supplement-1): 7-22 (2015) - 2014
- [j8]Torsten Kroeger, Raj Madhavan:
2013 IROS Industry Forum: Where does Entrepreneurship Fit in within Industry & Academia? [Industrial Activities]. IEEE Robotics Autom. Mag. 21(1): 14-15 (2014) - 2011
- [j7]Torsten Kröger:
Online Trajectory Generation: Straight-Line Trajectories. IEEE Trans. Robotics 27(5): 1010-1016 (2011) - 2010
- [j6]Rafael Osypiuk, Torsten Kröger:
A three-loop model-following control structure: theory and implementation. Int. J. Control 83(1): 97-104 (2010) - [j5]Torsten Kröger, Friedrich M. Wahl:
Online Trajectory Generation: Basic Concepts for Instantaneous Reactions to Unforeseen Events. IEEE Trans. Robotics 26(1): 94-111 (2010) - 2008
- [j4]Torsten Kröger, Bernd Finkemeyer, Simon Winkelbach, Lars-Oliver Eble, Sven Molkenstruck, Friedrich M. Wahl:
A manipulator plays Jenga. IEEE Robotics Autom. Mag. 15(3): 79-84 (2008) - 2007
- [j3]Torsten Kröger, Daniel Kubus, Friedrich M. Wahl:
Force and acceleration sensor fusion for compliant manipulation control in 6 degrees of freedom. Adv. Robotics 21(14): 1603-1616 (2007) - 2005
- [j2]Bernd Finkemeyer, Torsten Kröger, Friedrich M. Wahl:
Executing assembly tasks specified by manipulation primitive nets. Adv. Robotics 19(5): 591-611 (2005) - [j1]Bernd Finkemeyer, Torsten Kröger, Friedrich M. Wahl:
Aktionsprimitive: Ein universelles Roboter-Programmierparadigma (Manipulation Primitives: An Universal Robot Programming Paradigma). Autom. 53(4-5): 189-196 (2005)
Conference and Workshop Papers
- 2023
- [c50]Alexander Cebulla, Tamim Asfour, Torsten Kröger:
Efficient Multi-Objective Assembly Sequence Planning via Knowledge Transfer between Similar Assemblies. CASE 2023: 1-7 - [c49]Woo-Jeong Baek, Torsten Kröger:
Safety Evaluation of Robot Systems via Uncertainty Quantification. ICRA 2023: 10532-10538 - [c48]Tom Philip Huck, Yuvaraj Selvaraj, Constantin Cronrath, Christoph Ledermann, Martin Fabian, Bengt Lennartson, Torsten Kröger:
Hazard Analysis of Collaborative Automation Systems: A Two-layer Approach based on Supervisory Control and Simulation. ICRA 2023: 10560-10566 - [c47]Alexander Cebulla, Tamim Asfour, Torsten Kröger:
Speeding Up Assembly Sequence Planning Through Learning Removability Probabilities. ICRA 2023: 12388-12394 - [c46]Woo-Jeong Baek, Christoph Ledermann, Tamim Asfour, Torsten Kröger:
Combining Measurement Uncertainties with the Probabilistic Robustness for Safety Evaluation of Robot Systems. IROS 2023: 473-480 - 2022
- [c45]Constantin Cronrath, Tom Philip Huck, Christoph Ledermann, Torsten Kröger, Bengt Lennartson:
Relevant Safety Falsification by Automata Constrained Reinforcement Learning. CASE 2022: 2273-2280 - [c44]Jonas C. Kiemel, Torsten Kröger:
Learning Collision-free and Torque-limited Robot Trajectories based on Alternative Safe Behaviors. Humanoids 2022: 223-230 - [c43]Woo-Jeong Baek, Christoph Pohl, Philipp Pelcz, Torsten Kröger, Tamim Asfour:
Improving Humanoid Grasp Success Rate based on Uncertainty-aware Metrics and Sensitivity Optimization. Humanoids 2022: 786-793 - [c42]Woo-Jeong Baek, Christoph Ledermann, Torsten Kröger:
Uncertainty Estimation for Safe Human-Robot Collaboration Using Conservation Measures. IAS 2022: 85-102 - [c41]Yahav Avigal, Lars Berscheid, Tamim Asfour, Torsten Kröger, Ken Goldberg:
SpeedFolding: Learning Efficient Bimanual Folding of Garments. IROS 2022: 1-8 - [c40]Jonas C. Kiemel, Torsten Kröger:
Learning Time-optimized Path Tracking with or without Sensory Feedback. IROS 2022: 4024-4031 - [c39]Xi Huang, Gergely Sóti, Hongyi Zhou, Christoph Ledermann, Björn Hein, Torsten Kröger:
HIRO: Heuristics Informed Robot Online Path Planning Using Pre-computed Deterministic Roadmaps. IROS 2022: 8109-8116 - 2021
- [c38]Tom Philip Huck, Christoph Ledermann, Torsten Kröger:
Virtual Adversarial Humans finding Hazards in Robot Workplaces. ICRA 2021: 3872-3878 - [c37]Lars Berscheid, Christian Friedrich, Torsten Kröger:
Robot Learning of 6 DoF Grasping using Model-based Adaptive Primitives. ICRA 2021: 4474-4480 - [c36]Jonas C. Kiemel, Torsten Kröger:
Learning Robot Trajectories subject to Kinematic Joint Constraints. ICRA 2021: 4799-4805 - [c35]Lars Berscheid, Pascal Meißner, Torsten Kröger:
Learning a Generative Transition Model for Uncertainty-Aware Robotic Manipulation. IROS 2021: 4670-4677 - [c34]Lars Berscheid, Torsten Kroeger:
Jerk-limited Real-time Trajectory Generation with Arbitrary Target States. Robotics: Science and Systems 2021 - 2020
- [c33]Jonas C. Kiemel, Pascal Meißner, Torsten Kröger:
TrueRMA: Learning Fast and Smooth Robot Trajectories with Recursive Midpoint Adaptations in Cartesian Space. ICRA 2020: 4225-4231 - [c32]Jonas C. Kiemel, Robin Weitemeyer, Pascal Meißner, Torsten Kröger:
TrueÆdapt: Learning Smooth Online Trajectory Adaptation with Bounded Jerk, Acceleration and Velocity in Joint Space. IROS 2020: 5387-5394 - 2019
- [c31]David Puljiz, Erik Stöhr, Katharina S. Riesterer, Björn Hein, Torsten Kröger:
Sensorless Hand Guidance Using Microsoft Hololens. HRI 2019: 632-633 - [c30]Silas Grün, Simon Höninger, Paul Maria Scheikl, Björn Hein, Torsten Kröger:
Evaluation of Domain Randomization Techniques for Transfer Learning. ICAR 2019: 481-486 - [c29]Lars Berscheid, Thomas Rühr, Torsten Kröger:
Improving Data Efficiency of Self-supervised Learning for Robotic Grasping. ICRA 2019: 2125-2131 - [c28]Wolfgang Wiedmeyer, Michael Mende, Dennis Hartmann, Rainer Bischoff, Christoph Ledermann, Torsten Kröger:
Robotics Education and Research at Scale: A Remotely Accessible Robotics Development Platform. ICRA 2019: 3679-3685 - [c27]Lars Berscheid, Pascal Meißner, Torsten Kröger:
Robot Learning of Shifting Objects for Grasping in Cluttered Environments. IROS 2019: 612-618 - [c26]David Puljiz, Erik Stöhr, Katharina S. Riesterer, Björn Hein, Torsten Kröger:
General Hand Guidance Framework using Microsoft HoloLens. IROS 2019: 5185-5190 - [c25]Dennis Hartmann, Michael Mende, Denis Stogl, Bjöm Hein, Torsten Kröger:
Robot-Based Machining of Unmodeled Objects via Feature Detection in Dense Point Clouds. IROS 2019: 7777-7783 - 2018
- [c24]Fang You, Michael Mende, Denis Stogl, Björn Hein, Torsten Kröger:
Model-Free Grasp Planning for Configurable Vacuum Grippers. IROS 2018: 4554-4561 - 2017
- [c23]Torsten Kroeger:
Sensor-based control, real-time motion planning, and reinforcement learning for industrial robots. SII 2017: 3 - 2016
- [c22]Jeffrey Mahler, Florian T. Pokorny, Brian Hou, Melrose Roderick, Michael Laskey, Mathieu Aubry, Kai Kohlhoff, Torsten Kröger, James J. Kuffner, Ken Goldberg:
Dex-Net 1.0: A cloud-based network of 3D objects for robust grasp planning using a Multi-Armed Bandit model with correlated rewards. ICRA 2016: 1957-1964 - 2013
- [c21]Thomas Schlegl, Torsten Kröger, Andre Gaschler, Oussama Khatib, Hubert Zangl:
Virtual whiskers - Highly responsive robot collision avoidance. IROS 2013: 5373-5379 - [c20]Robert K. Katzschmann, Torsten Kröger, Tamim Asfour, Oussama Khatib:
Towards online trajectory generation considering robot dynamics and torque limits. IROS 2013: 5644-5651 - 2012
- [c19]Fabrizio Flacco, Torsten Kröger, Alessandro De Luca, Oussama Khatib:
Depth space approach to human-robot collision avoidance. ICRA 2012: 338-345 - [c18]Torsten Kröger:
On-line trajectory generation: Nonconstant motion constraints. ICRA 2012: 2048-2054 - [c17]Torsten Kröger, Jose Padial:
Simple and robust visual servo control of robot arms using an on-line trajectory generator. ICRA 2012: 4862-4869 - [c16]Torsten Kröger, Ken Oslund, Tim Jenkins, Dan Torczynski, Nicholas Hippenmeyer, Radu Bogdan Rusu, Oussama Khatib:
JediBot - Experiments in Human-Robot Sword-Fighting. ISER 2012: 155-166 - 2011
- [c15]Torsten Kröger:
Opening the door to new sensor-based robot applications - The Reflexxes Motion Libraries. ICRA 2011 - 2010
- [c14]Bernd Finkemeyer, Torsten Kröger, Friedrich M. Wahl:
The adaptive selection matrix - A key component for sensor-based control of robotic manipulators. ICRA 2010: 3855-3862 - [c13]Torsten Kröger, Friedrich M. Wahl:
Stabilizing hybrid switched motion control systems with an on-line trajectory generator. ICRA 2010: 4009-4015 - 2008
- [c12]Daniel Kubus, Torsten Kröger, Friedrich M. Wahl:
Improving force control performance by computational elimination of non-contact forces/torques. ICRA 2008: 2617-2622 - [c11]Torsten Kröger, Daniel Kubus, Friedrich M. Wahl:
12D force and acceleration sensing: A helpful experience report on sensor characteristics. ICRA 2008: 3455-3462 - [c10]Daniel Kubus, Torsten Kröger, Friedrich M. Wahl:
On-line estimation of inertial parameters using a recursive total least-squares approach. IROS 2008: 3845-3852 - [c9]Torsten Kröger, Friedrich M. Wahl:
Multi-sensor integration and sensor fusion in industrial manipulation: Hybrid switched control, trajectory generation, and software development. MFI 2008: 411-418 - 2007
- [c8]Daniel Kubus, Torsten Kröger, Friedrich M. Wahl:
On-line rigid object recognition and pose estimation based on inertial parameters. IROS 2007: 1402-1408 - 2006
- [c7]Rafael Osypiuk, Torsten Kröger, Bernd Finkemeyer, Friedrich M. Wahl:
A Two-loop Implicit Force/Position Control Structure, based on a Simple Linear Model: Theory and Experiment. ICRA 2006: 2232-2237 - [c6]Torsten Kröger, Adam Tomiczek, Friedrich M. Wahl:
Towards On-Line Trajectory Computation. IROS 2006: 736-741 - [c5]Torsten Kröger, Daniel Kubus, Friedrich M. Wahl:
6D Force and Acceleration Sensor Fusion for Compliant Manipulation Control. IROS 2006: 2626-2631 - [c4]Thorsten Rennekamp, Kai Homeier, Torsten Kroeger:
Distributed Sensing and Prediction of Obstacle Motions for Mobile Robot Motion Planning. IROS 2006: 4833-4838 - 2004
- [c3]Torsten Kröger, Bernd Finkemeyer, Friedrich M. Wahl:
A Task Frame Formalism for Practical Implementations. ICRA 2004: 5218-5223 - [c2]Torsten Kröger, Bernd Finkemeyer, Markus Heuck, Friedrich M. Wahl:
Adaptive implicit hybrid force/pose control of industrial manipulators: compliant motion experiments. IROS 2004: 816-821 - 2003
- [c1]Ulrike Thomas, Bernd Finkemeyer, Torsten Kröger, Friedrich M. Wahl:
Error-tolerant execution of complex robot tasks based on skill primitives. ICRA 2003: 3069-3075
Parts in Books or Collections
- 2016
- [p4]Wan Kyun Chung, Li-Chen Fu, Torsten Kröger:
Motion Control. Springer Handbook of Robotics, 2nd Ed. 2016: 163-194 - 2011
- [p3]Bernd Finkemeyer, Torsten Kröger, Friedrich M. Wahl:
A Middleware for High-Speed Distributed Real-Time Robotic Applications. Robotic Systems for Handling and Assembly 2011: 193-212 - [p2]Rafal Osypiuk, Torsten Kröger:
Parallel Stiffness Actuators with Six Degrees of Freedom for Efficient Force/Torque Control Applications. Robotic Systems for Handling and Assembly 2011: 275-291 - [p1]Torsten Kröger, Bernd Finkemeyer, Friedrich M. Wahl:
Manipulation Primitives - A Universal Interface between Sensor-Based Motion Control and Robot Programming. Robotic Systems for Handling and Assembly 2011: 293-313
Editorship
- 2020
- [e2]Jing Xiao, Torsten Kröger, Oussama Khatib:
Proceedings of the 2018 International Symposium on Experimental Robotics, ISER 2018, Buenos Aires, Argentina, November 5-8, 2018. Springer Proceedings in Advanced Robotics 11, Springer 2020, ISBN 978-3-030-33949-4 [contents] - 2014
- [e1]Davide Brugali, Jan F. Broenink, Torsten Kroeger, Bruce A. MacDonald:
Simulation, Modeling, and Programming for Autonomous Robots - 4th International Conference, SIMPAR 2014, Bergamo, Italy, October 20-23, 2014. Proceedings. Lecture Notes in Computer Science 8810, Springer 2014, ISBN 978-3-319-11899-4 [contents]
Informal and Other Publications
- 2023
- [i23]Woo-Jeong Baek, Torsten Kröger:
Safety Evaluation of Robot Systems via Uncertainty Quantification. CoRR abs/2302.10644 (2023) - [i22]Woo-Jeong Baek, Tom Philip Huck, Joschka Haas, Jonas Lewandrowski, Tamim Asfour, Torsten Kröger:
Uncertainty-aware Risk Assessment of Robotic Systems via Importance Sampling. CoRR abs/2308.14068 (2023) - [i21]Tom Philip Huck, Martin Kaiser, Constantin Cronrath, Bengt Lennartson, Torsten Kröger, Tamim Asfour:
Reinforcement Learning for Safety Testing: Lessons from A Mobile Robot Case Study. CoRR abs/2311.02907 (2023) - 2022
- [i20]Jonas C. Kiemel, Torsten Kröger:
Learning Time-optimized Path Tracking with or without Sensory Feedback. CoRR abs/2203.01968 (2022) - [i19]Yahav Avigal, Lars Berscheid, Tamim Asfour, Torsten Kröger, Ken Goldberg:
SpeedFolding: Learning Efficient Bimanual Folding of Garments. CoRR abs/2208.10552 (2022) - [i18]Woo-Jeong Baek, Christoph Ledermann, Torsten Kröger:
Uncertainty Estimation for Safe Human-Robot Collaboration using Conservation Measures. CoRR abs/2209.00467 (2022) - [i17]Tom Philip Huck, Yuvaraj Selvaraj, Constantin Cronrath, Christoph Ledermann, Martin Fabian, Bengt Lennartson, Torsten Kröger:
Hazard Analysis of Collaborative Automation Systems: A Two-layer Approach based on Supervisory Control and Simulation. CoRR abs/2209.12560 (2022) - 2021
- [i16]Tom Philip Huck, Christoph Ledermann, Torsten Kröger:
Virtual Adversarial Humans finding Hazards in Robot Workplaces. CoRR abs/2103.00973 (2021) - [i15]Jonas C. Kiemel, Torsten Kröger:
Learning Collision-free and Torque-limited Robot Trajectories based on Alternative Safe Behaviors. CoRR abs/2103.03793 (2021) - [i14]Lars Berscheid, Christian Friedrich, Torsten Kröger:
Robot Learning of 6 DoF Grasping using Model-based Adaptive Primitives. CoRR abs/2103.12810 (2021) - [i13]Lars Berscheid, Torsten Kröger:
Jerk-limited Real-time Trajectory Generation with Arbitrary Target States. CoRR abs/2105.04830 (2021) - [i12]Lars Berscheid, Pascal Meißner, Torsten Kröger:
Learning a Generative Transition Model for Uncertainty-Aware Robotic Manipulation. CoRR abs/2107.02464 (2021) - [i11]Tom Philip Huck, Christoph Ledermann, Torsten Kröger:
Testing Robot System Safety by creating Hazardous Human Worker Behavior in Simulation. CoRR abs/2111.14433 (2021) - 2020
- [i10]Jonas C. Kiemel, Robin Weitemeyer, Pascal Meißner, Torsten Kröger:
TrueAdapt: Learning Smooth Online Trajectory Adaptation with Bounded Jerk, Acceleration and Velocity in Joint Space. CoRR abs/2006.00375 (2020) - [i9]Jonas C. Kiemel, Pascal Meißner, Torsten Kröger:
TrueRMA: Learning Fast and Smooth Robot Trajectories with Recursive Midpoint Adaptations in Cartesian Space. CoRR abs/2006.03497 (2020) - [i8]Lars Berscheid, Pascal Meißner, Torsten Kröger:
Self-supervised Learning for Precise Pick-and-place without Object Model. CoRR abs/2006.08373 (2020) - [i7]Jonas C. Kiemel, Torsten Kröger:
Learning Robot Trajectories subject to Kinematic Joint Constraints. CoRR abs/2011.00563 (2020) - [i6]Tom Philip Huck, Christoph Ledermann, Torsten Kröger:
Simulation-based Testing for Early Safety-Validation of Robot Systems. CoRR abs/2011.10294 (2020) - 2019
- [i5]David Puljiz, Erik Stöhr, Katharina S. Riesterer, Björn Hein, Torsten Kröger:
Sensorless Hand Guidance using Microsoft Hololens. CoRR abs/1901.04933 (2019) - [i4]Lars Berscheid, Thomas Rühr, Torsten Kröger:
Improving Data Efficiency of Self-supervised Learning for Robotic Grasping. CoRR abs/1903.00228 (2019) - [i3]David Puljiz, Katharina S. Riesterer, Björn Hein, Torsten Kröger:
Referencing between a Head-Mounted Device and Robotic Manipulators. CoRR abs/1904.02480 (2019) - [i2]Lars Berscheid, Pascal Meißner, Torsten Kröger:
Robot Learning of Shifting Objects for Grasping in Cluttered Environments. CoRR abs/1907.11035 (2019) - [i1]David Puljiz, Erik Stöhr, Katharina S. Riesterer, Björn Hein, Torsten Kröger:
General Hand Guidance Framework using Microsoft HoloLens. CoRR abs/1908.04692 (2019)
Coauthor Index
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