Staff

DLR German Aerospace Center
Institute of Robotics and Mechatronics
Cognitive Robotics
Oberpfaffenhofen
Muenchener Str. 20
82234 Wessling

"It is my goal to enable as many people as possible to program (or instruct) robots. For my intuitive programming approaches, I develop and study different input modalities, such as touch, speech of teaching by demonstration (kinesthetic teaching). It motivates me to see when people without experience in programming can teach a robot a task within a few seconds."

— Franz Steinmetz, Leader research group "Interactive Skill Learning"

Profile

• LinkedIn: https://www.linkedin.com/in/franzsteinmetz/
• XING: https://www.xing.com/profile/Franz_Steinmetz

Publications with DLR

• Gabriel Quere, Samuel Bustamante Gomez, Annette Hagengruber, Jörn Vogel, Franz Steinmetz et 1 al.:
  Learning and Interactive Design of Shared Control Templates
  In: 2021 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2021. 2021 IEEE International Conference on Intelligent Robots and Systems (IROS), Pragues (Online), 2021. ISBN 978-166541714-3, ISSN 2153-0858. [elib]
• Norbert Huchler, Ingmar Kessler, Florian Samuel Lay, Alexander Perzylo, Michael Seidler et 1 al.:
  Empowering Workers in a Mixed Skills Concept for Collaborative Robot Systems
  In: Workshop on Accessibility of Robot Programming and Work of the Future, Robotics: Science and Systems (RSS 2021). Workshop on Accessibility of Robot Programming and Work of the Future, Robotics: Science and Systems (RSS 2021), 12.-16. Jul. 2021, Virtuell, 2021. [elib]
• Friedrich Lange, Martin Pfanne, Franz Steinmetz, Sebastian Wolf, Freek Stulp:
  Friction Estimation for Tendon-Driven Robotic Hands
  In: 2021 IEEE International Conference on Robotics and Automation, ICRA 2021. ICRA 2021, May 30 - June 5, Xi'an, China, 2021. ISBN 978-172819077-8, ISSN 1050-4729. [elib]
• Philipp Matthias Schäfer, Franz Steinmetz, Stefan Schneyer, Timo Bachmann, Thomas Eiband et 5 al.:
  Flexible Robotic Assembly Based on Ontological Representation of Tasks, Skills, and Resources
  In: 18th International Conference on Principles of Knowledge Representation and Reasoning, KR 2021. 18th International Conference on Principles of Knowledge Representation and Reasoning, 3.-12. Nov. 2021, Online, 2021. DOI 10.24963/kr.2021/73, ISBN 978-195679299-7, ISSN 2334-1033. [elib]
• Franz Steinmetz, Verena Nitsch, Freek Stulp:
  Intuitive Task-Level Programming by Demonstration through Semantic Skill Recognition
  IEEE Robotics and Automation Letters, vol. 4 (4). IEEE - Institute of Electrical and Electronics Engineers, 2019. DOI 10.1109/LRA.2019.2928782, ISSN 2377-3766. [elib]
• Franz Steinmetz, Annika Wollschläger, Roman Weitschat:
  RAZER -- A Human-Robot Interface for Visual Task-Level Programming and Intuitive Skill Parametrization
  IEEE Robotics and Automation Letters, vol. 3 (3). IEEE - Institute of Electrical and Electronics Engineers, 2018. DOI 10.1109/LRA.2018.2798300, ISSN 2377-3766. [elib]
• Sebastian Georg Brunner, Franz Steinmetz, Rico Belder, Andreas Dömel:
  RAFCON: A Graphical Tool for Engineering Complex, Robotic Tasks
  In: IEEE International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, 2016. DOI 10.1109/IROS.2016.7759506. [elib]
• Sebastian Georg Brunner, Franz Steinmetz, Rico Belder, Andreas Dömel:
  RAFCON: a Graphical Tool for Task Programming and Mission Control
  In: RoboCup 2016: Robot World Cup XX, Lecture Notes in Computer Science. RoboCup 2016: Robot Soccer World Cup XX, Leipzig, Germany, 2016. [elib]
• Franz Steinmetz, Roman Weitschat:
  Skill parametrization approaches and skill architecture for human-robot interaction
  In: CASE. IEEE International Conference on Automation Science and Engineering (CASE 2016), 21.-25. Aug. 2016, Fort Worth, Texas, USA, 2016. DOI 10.1109/COASE.2016.7743419, ISBN 978-1-5090-2409-4. [elib]

Previous publications

• Franz Steinmetz, Alberto Montebelli, Ville Kyrki
  Simultaneous Kinesthetic Teaching of Positional and Force Requirements for Sequential In-Contact Tasks
  In: IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2015. DOI 10.1109/HUMANOIDS.2015.7363552.
• Alberto Montebelli, Franz Steinmetz, Ville Kyrki
  On handing down our tools to robots: Single-phase kinesthetic teaching for dynamic in-contact tasks
  In: IEEE-RAS International Conference on Robotics and Automation (ICRA), 2015. DOI 10.1109/ICRA.2015.7139987.
• Franz Steinmetz
  Programming by Demonstration for in-contact tasks using Dynamic Movement Primitives
  Master Thesis, Aalto University, Finland, 2014. [permanent link]