Staff

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

telephone:	+49 8153 28-1555
email:	Franz Steinmetz

"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."

Publications with DLR

• 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]