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Mitarbeiter

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Dr. Maximo A. Roa, PMP

Deutsches Zentrum für Luft- und Raumfahrt (DLR)
Institut für Robotik und Mechatronik
Autonomie und Teleoperation
Oberpfaffenhofen
Münchener Str. 20
82234 Weßling

Telefon: +49 8153 28-1175
E-Mail: Diese E-Mail-Adresse ist vor Spambots geschützt! Zur Anzeige muss JavaScript eingeschaltet sein!

Fields of Interest

  • Humanoid robots
  • Multifingered hands
  • Grasp planning
  • Motion planning
  • Passive walking
  • Dexterous manipulation

In case you are interested in an internship, diploma or master thesis in one of these topics, please contact me, or check our open positions:

Multi-Contact Motion Planning for a Humanoid Robot

 Recent publications

  • In-space robotic assembly of large telescopes. M.A. Roa, K. Nottensteiner, G. Grunwald, P. Lopez, A. Cuffolo, S. Andiappane, M. Rognant, A. Verhaeghe, V. Bisonnette. Symposium on Advanced Space Technologies in Robotics and Automation - ASTRA. Noordwijk, Netherlands, 27-28 May 2019.
  • MOSAR: Modular Spacecraft Assembly and Reconfiguration Demonstrator. P. Letier, X. Yan, M. Deremetz, A. Bianco, G. Grunwald, M. Roa, R. Krenn, M. Munoz, P. Dissaux, J. Garcia, R. Ruiz, L. Filippis, G. Porceluzzi, M. Post, M. Walshe, P. Perryman. Symposium on Advanced Space Technologies in Robotics and Automation - ASTRA. Noordwijk, Netherlands, 27-28 May 2019.
  • Torque-Based Balancing for a Humanoid Robot Performing High-Force Interaction Tasks. F. Abi-Farraj, B. Henze, C. Ott, P. Robuffo, M.A. Roa. IEEE Robotics and Automation Letters, Vol.4 (2), pp. 2023-2030, April 2019. DOI: 10.1109/LRA.2019.2898041
  • SMErobotics: Smart Robots for Flexible Manufacturing. A. Perzylo, M. Rickert, B. Kahl, N. Somani, C. Lehmann, A. Kuss, S. Profanter, A.B. Beck, M. Haage, M.R. Hansen, M.T. Nibe, M.A. Roa, O. Sornmo, S.G. Robertz, U. Thomas, G. Veiga, E.A. Topp, I. Kessler, M. Danzer. Robotics and Automation Magazine, Vol. 26 (1), pp. 78-90. March 2019. DOI: 10.1109/MRA.2018.2879747
  • Vision-based Solutions for Robotic Manipulation and Navigation applied to Object Picking and Distribution. M.A. Roa, E. Gambaro, M. Florek, F. Endress, F. Ruess, R. Schaller, C. Emmerich, K. Muenster, M. Suppa. KI - Künstliche Intelligenz, Vol.33 (2), pp. 171-180. June 2019. Springer. DOI: 10.1007/s13218-019-00588-z
  • Experimental Analysis of Human-Like Behaviors in a Humanoid Robot: Quasi-Static Balancing Using Toe-off Motion and Stretched Knees. B. Henze, M.A. Roa, A. Werner, A. Dietrich, C. Ott, A. Albu-Schaeffer. IEEE Int. Conf. on Robotics and Automation - ICRA. Montreal, Canada, 20-24 May 2019.
  • A Benchmarking Framework for Systematic Evaluation of Robotic Pick-and-Place Systems in an Industrial Grocery Setting. P. Triantafyllou, H. Mnyusiwalla, P. Sotiropoulos, M.A. Roa, D. Russel, G. Deacon.  IEEE Int. Conf. on Robotics and Automation - ICRA. Montreal, Canada, 20-24 May 2019.
  • A Wearable, Ultralight Interface for Bimanual Teleoperation of a Compliant, Whole-body Controlled Humanoid Robot (Video). O. Porges, M. Connan, B. Henze, A. Gigli, C. Castellini, M.A. Roa.  IEEE Int. Conf. on Robotics and Automation - ICRA. Montreal, Canada, 20-24 May 2019. 
  • Mechanism Design of DLR Humanoid Robots. C. Ott, M.A. Roa, F. Schmidt, W. Friedl, J. Englsberger, R. Burger, A. Werner, A. Dietrich, D. Leidner, B. Henze, O. Eiberger, A. Beyer, B. Bäuml, C. Borst, A. Albu-Schäffer. Chapter in: Humanoid Robotics: A Reference, pp. 637-662. Ed: A. Goswami, P. Vadakkepat. Springer. 2019. ISBN: 978-94-007-6045-5. DOI: 10.1007/978-94-007-6046-2_132
  • DLR Multi-Fingered Hands. M. Grebenstein, M. Chalon, M. A. Roa, C. Borst. Chapter in: Humanoid Robotics: A Reference, pp. 481-522. Ed: A. Goswami, P. Vadakkepat. Springer. 2019. ISBN: 978-94-007-6046-2. DOI: 10.1007/978-94-007-6046-2_85
  • Manipulation and Task Execution by Humanoids. K. Harada, M.A. Roa. Chapter in: Humanoid Robotics: A Reference, pp. 1633-1655. Ed: A. Goswami, P. Vadakkepat. Springer. 2019. ISBN: 978-94-007-6046-2. DOI: 10.1007/978-94-007-6046-2_31
  • Autonomous Bipedal Humanoid Grasping with Base Repositioning and Whole-Body Control. A. M. Sundaram, B. Henze, O. Porges, M.A. Roa. IEEE-RAS Int. Conf. on Humanoid Robots, pp. 395-402. Beijing, China, 6-9 Nov. 2018. DOI: 10.1109/HUMANOIDS.2018.8624998
  • A Benchmarking Framework for Systematic Evaluation of Compliant Under-actuated Soft End Effectors in an Industrial Context. P. Sotiropoulos, M. A. Roa, M.F. Martins, W. Friedl, H. Mnyusiwalla, P. Triantafyllou, G. Deacon. IEEE-RAS Int. Conf. on Humanoid Robots, pp.650-657. Beijing, China, 6-9 Nov. 2018. DOI: 10.1109/HUMANOIDS.2018.8624924
  • CAESAR: Space Robotics Technology for Assembly, Maintenance, and Repair. A. Beyer, G. Grunwald, M. Heumos, M. Schedl, R. Bayer, W. Bertleff, B. Brunner, R. Burger, J. Butterfass, R. Gruber, T. Gumpert, F. Hacker, E. Kraemer, M. Maier, S. Moser, J. Reill, M. Roa, H. Sedlmayr, N. Seitz, M. Stelzer, A. Stemmer, G. Tubio, T. Wimmer, M. Grebenstein, C. Ott, A. Albu-Schäffer. 69th IAC International Astronautical Congress, Bremen, Germany, 1-5 October 2018.
  • Model-Based Posture Control for a Torque-Controlled Humanoid Robot. M.A. Roa, B. Henze, C. Ott. In: Wearable Robotics: Challenges and Trend. WeRob 2018. Eds: M. Carrozza, S. Micera, J. Pons. Series: Biosystems & Biorobotics, Vol.22. Springer, 2018. ISBN: 978-3-030-01886-3. DOI: 10.1007/978-3-030-01887-0_66
  • Guest Editorial Open Discussion of Robot Grasping Benchmarks, Protocols and Metrics. J. Mahler, R. Platt, A. Rodriguez, M. Ciocarlie, A. Dollar, R. Detry, M.A. Roa, H. Yanco, A. Norton, J. Falco, K. van Wyk, E. Messina, J. Leitner, D. Morrison, M. Mason, O. Brock, L. Odhner, A. Kurenkov, M. Matl, K. Goldberg.  IEEE Trans. Automation Science and Engineering. Vol. 15 (4), pp. 1440-1442, October 2018. DOI: 10.1109/TASE.2018.2871354
  • Passivity Analysis and Control of Humanoid Robots on Movable Ground. B. Henze, R. Balachandran, M.A. Roa, C. Ott, A. Albu-Schäffer. IEEE Robotics and Automation Letters, Vol.3 (4), pp. 3457-3464, October 2018. DOI: 10.1109/LRA.2018.2853266
  • Humanoid teleoperation using task-relevant haptic feedback. F. Abi-Farraj, B. Henze, A. Werner, M. Panzirsch, C. Ott, M.A. Roa. IEEE/RSJ Int. Conf. Intelligent Robots and Systems - IROS, pp. 5010-5017. Madrid, Spain, 1-5 October 2018.  Finalist, Best Paper Award on Safety, Security, and Rescue Robotics.
  • CLASH: Compliant Low cost Antagonistic Servo Hand. W. Friedl, H. Höppner, F. Schmidt, M.A. Roa, M. Grebenstein. IEEE/RSJ Int. Conf. Intelligent Robots and Systems - IROS, pp. 6469-6476. Madrid, Spain, 1-5 October 2018. DOI: 10.1109/IROS.2018.8593903
  • Hierarchical Path Planner using Workspace Decomposition and Parallel Task-Space RRTs. G. Mesesan, M.A. Roa, E. Icer, M. Althoff. IEEE/RSJ Int. Conf. Intelligent Robots and Systems - IROS, pp. 6524-6531. Madrid, Spain, 1-5 October 2018. DOI: 10.1109/IROS.2018.8593870
  • Robotic grasping and manipulation competition: Task pool. Y. Sun, J. Falco, N. Cheng, H.R. Choi, E.D. Engeberg, N Pollard, M. Roa, Z. Xia. Chapter in: Robotic grasping and manipulation: First Robotic Grasping and Manipulation Challenge, pp. 1-18. Ed: Y. Sun, J. Falco. Springer. 2018. ISBN: 978-3-319-94568-2. DOI: 10.1007/978-3-319-94568-2
  • Robotic grasping and manipulation competition: Competitor feedback and lessons learned. J. Falco, Y. Sun, M. Roa. Chapter in: Robotic grasping and manipulation: First Robotic Grasping and Manipulation Challenge, pp. 180-189. Ed: Y. Sun, J. Falco. Springer. 2018. ISBN: 978-3-319-94568-2. DOI: 10.1007/978-3-319-94568-2
  • Evaluating the quality of non-prehensile grasps. R. Krug, Y. Bekiroglu, D. Kragic, M. A. Roa. IEEE Int. Conf. on Robotics and Automation - ICRA. Brisbane, Australia, 21-25 May 2018.
  • Tactile-Based In-Hand Object Pose Estimation. D. Alvarez, M.A. Roa, L. Moreno. Chapter in: Robot 2017: Third Iberian Robotics Conference, pp. 703-718. Ed: A. Ollero, A. Sanfeliu, L. Montano, N. Lau, C. Cardeira. Series: Advances in Intelligent Systems and Computing, Vol. 694. Springer. 2018. ISBN: 978-3-319-70835-5. DOI: 10.1007/978-3-319-70836-2_59
  • Multi-Contact Balancing of Humanoid Robots in Confined Spaces: Utilizing Knee Contacts. B. Henze, A. Dietrich, M. A .Roa, C. Ott. IEEE/RSJ Int. Conf. Intelligent Robots and Systems - IROS, pp. 697-704. Vancouver, Canada, 24-28 September 2017.  Finalist, Best Paper Award on Safety, Security, and Rescue Robotics.

A more detailed list of older publications (including links to download them).

 Recent Awards

  • DLR Idea Award 2018 - Smart Farming. Feinfühlinge Roboterhände zum greifen von Lebensmitteln (Sensitive robotic hands for gripping food). W. Friedl, F. Schmidt, A.M. Sundaram, T. Wuesthoff, H. Hoeppner, M.A. Roa. November 2018.
  • Finalist, Best Paper Award on Safety, Security, and Rescue Robotics, at the IEEE/RSJ Int. Conf. Intelligent Robots and Systems - IROS. Paper: Humanoid teleoperation using task-relevant haptic feedback. F. Abi-Farraj, B. Henze, A. Werner, M. Panzirsch, C. Ott, M.A. Roa. Madrid, Spain, October 2018. 
  • Finalist, Best Paper Award on Safety, Security, and Rescue Robotics at the IEEE/RSJ Int. Conf. Intelligent Robots and Systems - IROS. Paper: Multi-contact balancing of humanoid robots in confined spaces: utilizing knee contacts. B. Henze, A. Dietrich, M. A .Roa, C. Ott. Vancouver, Canada, September 2017. 
  • Best Video Award - WBC 2016 of the IEEE-RAS Technical Comittee on Whole-Body Control. Video from the paper: Passivity-based whole-body balancing for torque-controlled humanoid robots in multi-contact scenarios. B. Henze, M.A. Roa, C. Ott. Int. J. Robotics Research, 2016.
  • IEEE Senior Member. July 2015.
  • Best Video Award at the IEEE-RAS Int. Conf. on Humanoid Robots. Paper: Control Applications of TORO - a Torque Controlled Humanoid Robot. B. Henze, A. Werner, M.A. Roa, G. Garofalo, J. Engelsberger, C. Ott. Madrid, Spain, 18-20 Nov. 2014.
  • Distinguished Reviewer, IEEE Trans. Robotics, 2013.
  • Best Paper Award-Cotesys at the IEEE Int. Symp. Robot and Human Interactive Communication - RO-MAN. Paper: Toward a Task Space Framework for Gesture Commanded Telemanipulation. N.Y. Lii, Z. Chen, M.A. Roa, A. Maier, B. Pleintinger, C. Borst. Paris, France. 9-13 Sept. 2012.
  • Best Paper Award at the IEEE-RAS Int. Conf. on Humanoid Robots. Paper: Posture and Balance Control for Biped Robots Based on Contact Force Optimization. Ch. Ott, M.A. Roa, G. Hirzinger. Bled, Slovenia, 26-28 Oct. 2011.

Videos with research results

Recent Invited Talks

Recent organized events

 EU Projects

  • PULSAR: Prototype of an Ultra-Large Structure Assembly Robot (H2020, 2019-2021)
  • MOSAR: Modular Spacecraft Assembly and Reconfiguration (H2020, 2019-2021)
  • COMANOID:  Multi-contact Collaborative Humanoids in Aircraft Manufacturing (H2020, 2015-2018)
  • SOMA:  Soft Manipulation (H2020, 2015-2019)
  • SMErobotics: European Robotics Initiative for Strengthening the Competitiveness of SMEs in Manufacturing (FP7, 2012-2016)
  • GeRT: Generalizing Robot Manipulation Tasks (FP7, 2010-2013)
  • DEXMART: DEXterous and autonomous dual-arm/hand robotic manipulation with sMART sensory-motor skills: A bridge from natural to artificial cognition (FP7, 2010-2012)

Roboception: A DLR Spin-off devoted to industrial perception and applications in robotic grasping and manipulation

  • THOMAS:  Mobile Dual-Arm Robotic Workers with embedded cognition for hybrid reconfigurable manufacturing systems (H2020, 2016-2020).

 

Zuletzt aktualisiert: Freitag, 12. Juli 2019 von Dr. Maximo A. Roa, PMP