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Mitarbeiter

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Dr. Maximo A. Roa

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

  • 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. 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. 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. Madrid, Spain, 1-5 October 2018.
  • 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. Madrid, Spain, 1-5 October 2018.
  • 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. Spirnger. 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. Spirnger. 2018. ISBN: 978-3-319-94568-2. DOI: 10.1007/978-3-319-94568-2
  • Mechanism and 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. Ed: A. Goswami, P. Vadakkepat. Springer. 2018. ISBN: 978-94-007-7194-9. DOI: 10.1007/978-94-007-7194-9_132-1
  • DLR Multi-Fingered Hands. M. Grebenstein, M. Chalon, M. A. Roa, C. Borst. Chapter in: Humanoid Robotics: A Reference. Ed: A. Goswami, P. Vadakkepat. Springer. 2018. ISBN: 978-94-007-7194-9. DOI: 10.1007/978-94-007-7194-9_85-1
  • Manipulation and Task Execution by Humanoids. K. Harada, M.A. Roa. Chapter in: Humanoid Robotics: A Reference. Ed: A. Goswami, P. Vadakkepat. Springer. 2018. ISBN: 978-94-007-7194-9. DOI: 10.1007/978-94-007-7194-9_31-1
  • 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.
  • Robotic Technologies for In-Space Assembly Operations. M.A. Roa, K. Nottensteiner, A. Wedler, G. Grunwald. Symposium on Advanced Space Technologies in Robotics and Automation - ASTRA. Noordwijk, Netherlands, 20-22 June 2017. 
  • Grasp Quality Evaluation Done Right: How Assumed Contact Force Bounds Affect Wrench-Based Quality Metrics. R. Krug, Y. Bekiroglu, M.A. Roa. IEEE Int. Conf. on Robotics and Automation - ICRA., pp. 1595-1600. Singapore, 29 May - 3 June 2017.

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

 Recent Awards

  • 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 WBC-Video Award 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.
  • Cotesys Best Paper Award 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

  • 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: Samstag, 13. Oktober 2018 von Dr. Maximo A. Roa