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Available topics

TopicTypeSupervisor
Haptic interactions between humans and robots for understanding body balancing mechanismMADongheui Lee
Learning hierarchical task structures from human demonstration and contextual information MA Matteo Saveriano

 


Ongoing works

Topic
Student
Term
Supervisor
FP: Comparison of Dynamics of an Ankle Based SLIP Model withe a Non Ankle Based SLIP Matthias Donderer 01.08.2018 - xx.10.2019 Prof. Dongheui Lee, Karna Potwar
MA: Exploiting model-based reinforcement learning for non-prehensile manipulation of deformable objects Berkol Görür 03.09.2018 - xx.02.2019 Prof. Dongheui Lee, Matteo Saveriano
FP: Development of a user interface using one-class classification methods to predict manufacturability in vehicle tire designs Hanbo Hu 10.06.2018 - xx.08.2018 Marc Vogt, Prof. Dr. Dongheui Lee, Shile Li
MA: Link Segment Model for Functional Forward Reach Nelson Espindola 09.04.2018 - xx.xx.2018 Karna Potwar, Prof. Dongheui Lee
MA: Recognition and Tracking of Dynamic Objects Using Static Sensors Raimund Zille 01.05.2018 - xx.xx.2018 Mario Aigner, Alexander Dratva, Shile Li, Prof. Dongheui Lee
MA: Active Learning a Lidar Object Detector in a New Driving Environment Using Deep Learning Xiao Wei 15.04.2018 - 15.10.2018 Di Feng, Prof. Dongheui Lee
FP: Hand Pose Evaluation with Deep Metric Learning Berkol Görür 03.04.2018 - xx.06.2018 Prof. Dongheui Lee, Shile Li
MA: Motion Primitive Learning for Robot-Assisted Surgery Ertugrul Karademir xx.xx.2018 - xx.xx.2018 Dipl.-Ing. Julian Klodmann, Prof. Dongheui Lee
IDP: Collision Detection for Floating-Base Robots Daniel Gheorghita 02.04.2018 - 31.08.2018 Prof. Dongheui Lee, Alessandro Massimo Giordano

Finished master thesis

Topic
Student
Term
Supervisor
MA: Adaptive and Context-Aware Failure Handling for On-Orbit Servicing Spacecraft Marco Morganti 01.07.2017 - 25.06.2018 Dongheui Lee, Steffen Jaekel
MA: Task-Constrained Optimization of Multiple Demonstrations using Gaussian Mixture Models Florian Ludwig 08.11.2017 - 18.06.2018 Prof. Dongheui Lee
MA: Human Motion Retargetting to a Humanoid and its Feedback based Improvement Hyung Joo Lee 01.10.2017 - 30.05.2018 Prof. Dongheui Lee, Maxime Chalon
MA: Safe robot compliance strategies in potential human clamping situations Fabian Hirt 31.05. 2017 - 28.05.2018 Prof. Dongheui Lee, Matteo Saveriano, Ahmed Wafik
MA: Hand Pose Estimation with CNN for Generalized Hand Shape Jan Wöhlke 01.10. 2017 - 31.03.2018 Prof. Dongheui Lee, Shile Li
MA: Two-Armed Object-Level Impedance Control of Redundant Robots: Design, Validation, and Comparison. Hannah Bernauer 01.03.2017 - 31.03.2018 Prof. Dongheui Lee, Alexander Dietrich, Bernd Henze
MA: Efficient Optimization for Robust Bundle Adjustment Zhongnan Qu 01.10. 2017 - 31.03.2018 Prof. Dongheui Lee, Shile Li, Prof. Dr. Daniel Cremers, Dr. Tao Wu, Emanuel Laude
MA: Evaluation of machine-learning-based approaches to load estimation based on sEMG and inertial signals during lifting movements of the upper body Daniel Bargmann 01.04. 2017 - 29.01.2018 Prof. Dongheui Lee, Matteo Saveriano, Christophe Maufroy
MA: Advanced Myocontrol for Hand and Wrist Prostheses Thomas Eiband 01.01.2017 - 14.07.2017 M.Sc. Markus Nowak, Ph.D. Claudio Castellini, Prof. Dongheui Lee
MA: Alternative Approach to Identify the Stiffness Characteristic of a Soft Continuum Mechanism Tong Liu 04.10. 2016 - 26.04.2017 Bastian Deutschmann, Alexander Dietrich, Dongheui Lee
MA: Deep-Dynamic Movement Primitives learning with Convolutional Neural Networks Mao Yuecheng 01.01.2017 - 21.07.2017 Prof. Dongheui Lee, Affan Pervez
MA: Learning Dexterous Manipulation Skills for a Low-Cost Prosthetic Hand Abdallah Attawia 1.08.2016 - 27.04.2017 Dongheui Lee, Pietro Falco
MA: Visual prediction of traffic participants using recurrent neural networks. Johannes Dumler 01.09.2016 - 31.03.2017 Prof. Dongheui Lee, Affan Pervez
MA: Simulation study on control concepts for a floating platform manipulation Jianjie Lin 05.09. 2016 - 24.03.2017 Dongheui Lee, Minjun Kim
MA: Learning to Grasp in Highly Cluttered Environments Leveraging Multimodal Perception and Deep Neural Networks Tobias Watzel 1.08.2016 - 16.03.2017 Dongheui Lee, Pietro Falco
MA: Hand segmentation using random forest on RGB-D data Dominik Zech 01.08.2016 - 16.03.2017 Dongheui Lee, Shile Li
MA: Model-based Reinforcement Learning using a simplified robot model Yuchao Yin 29.06. 2016 - 16.02.2017 Dongheui Lee, Matteo Saveriano
MA: Modeling and Control of a Wheeled Humanoid Robot Bochra Ferchichi 01.07.2016 - 31.12.2016 Sami Haddadin/Ahmed Wafik, Dongheui Lee/M.Sc. Kai Hu
MA: Kinesthetic Teaching of End-Effector and Null-Space Motion Primitives with Learned Task Priorities Jiabin Wu 15.03. 2016 - 09.12.2016 Dongheui Lee, Matteo Saveriano
MA: Learning Haptic Feedback Controller Gains from Human Demonstrations Ke Wang 01.03.2016 - 01.10.2016 Ludovic Righetti, Jeannette Bohg, Dongheui Lee, Pietro Falco
MA: Semantic Place Classification based on User Behavior and Environment Data Jonas Hess 02.05. 2016 - 27.10.2016 Dongheui Lee, Matteo Saveriano, Roman Roor (BMW)
MA: Visual SLAM from RGB-D video. Bing Liu 01.05.2016 - 31.10.2016 Dongheui Lee, Shile Li
MA: Human-like Walking Pattern Design for Humanoid Robots Qi Lu 01.04.2016 - 30.09.2016 Kai Hu, Dongheui Lee
MA: Object Representation and Recognition based on Tactile Exploration Shuang Lu 1.12.2015 - 1.06.2016 Dongheui Lee, Pietro Falco
MA: Unsupervised methods for clustering human whole-body actions Dharmil Shah 15.11.2015 - 15.05.2016 Dongheui Lee, Pietro Falco
MA: Probabilistic methods for human-robot cooperation in flexible manufacturing environments Hasham Shahid Qureshi 01.7.2015 - 01.3.2016 Dongheui Lee, Pietro Falco
MA: Learning Stable Dynamical Systems using Contraction Theory Caroline Blocher 15.06.2015 - 15.12.2015 Dongheui Lee, Matteo Saveriano
MA: An Empirical Approach to Corpora Dimensionality Reduction Simon Kaltenbacher 15.04.2015 - 15.10.2015 Dongheui Lee, Nicholas H. Kirk
MA: Learning robotic calligraphy through characters images Omair Ali 01.04.2015 - 30.09.2015 Dongheui Lee, Affan Pervez
MA: Model-free and real-time multiple object tracking with an RGBD camera Shile Li 06.10.2014 - 06.04.2015 Dongheui Lee, Seongyong Koo
MA: Fast Rigid Body Simulation with Contact and Constraint for Prediction Lorenzo Santoro 01.10.2014 - 31.03.2015 Dongheui Lee, Sang-ik
MA:Generalization of Optimal Motion Trajectories for a Biped Walking Machine Based on Machine Learning Dietrich Trautmann 01.10.2014 - 31.03.2015 Dongheui Lee, Roberto Lampariello
MA: Reinforcement Learning of Robot's Impedance Behaviors Florian Winter 01.10.2014 - 31.03.2015 Dongheui Lee, Matteo Saveriano
MA: Learning strategies for grasping using evaluation of grasps based on empiric experiments of an anthropomorphic hand Kerstin Heunisch 01.05.2014 - 31.10.2014 Jens Reinecke
MA: A realistic dynamic, sensor and fault model of a torque controlled lightweight robotic joint Torsten Engler 01.05.2014 - 31.10.2014 Dongheui Lee, Sami Haddadin
MA: Robot’s Compliance Adaptation through Reinforcement Learning Jie Liu 01.04.2014 - 11.09.2014 Dongheui Lee, Matteo Saveriano
MA: Design, Implementation and Analysis of Novel Motor Units and Joint Torque Concepts Andreas Spenninger 01.11.2013 - 01.05.2014 Dongheui Lee, Sami Haddadin
MA: A Bayesian Approach for Recognizing and Predicting Human Activities using RGB-D Sensor Vito Magnanimo 16.06.2013 - 18.12.2013 Dongheui Lee, Matteo Saveriano
MA: Biped Locomotion Learning for a Small Humanoid Robot Jiaqi Yan 01.01.2012 - 01.07.2012 Dongheui Lee
MA: Real-time Hand Pose Estimation with a RGB Depth Camera Qixun Liang 01.04.2011 - 01.10.2011 Dongheui Lee, Juergen Sturm
MA: Human Motion Tracking using RGB-D sensors Licong Zhang 15.04.2011 - 31.10.2011 Dongheui Lee, Juergen Sturm
MA: Whole Body Human Motion Imitation for a Small Humanoid Kai Hu 06.11.2010 - 06.05.2011 Dongheui Lee
MA: Imitation Learning of Human Grasping Skills from Motion and Force Data Alexander Schmidts 01.05.2010 - 01.11.2010 Dongheui Lee, Angelika Peer
MA: 3D Human Motion Capturing with Robot’s Onboard Camera System Ziyuan Liu 01.04.2010 - 01.10.2010 Dongheui Lee, Wolfgang Sepp

Finished FP/IDP

Topic
Student
Term
Supervisor
FP: Incremental Learning of Stable Dynamical Systems using Diffeomorphic Transformations Sebastian Englbrecht 05.03.2018 - 26.09.2018 Prof. Dongheui Lee, Matteo Saveriano
FP: An Experimental Comparison of Model-based Reinforcement Learning Approaches Lingfeng Zhang 03.06.2018 - 26.09.2018 Prof. Dongheui Lee, Matteo Saveriano
FP: Human Hand Pose Tracking using Particle Swarm Optimization Siyuan Liu 05.03.2018 - 18.06.2018 Prof. Dongheui Lee, Shile Li
FP: Hierarchical classification with Random Forests Jianxiang Feng 19.10. 2017 - 31.1.2018 Prof. Dongheui Lee, Dr. Ulrich Hillenbrand
FP: Development of a User Interface for a Service Robot Lukas Hausperger 04.09. 2017 - 20.11.2017 Prof. Dongheui Lee, Matteo Saveriano
FP:Real-time Tracking of Human Hand Motion with a RGB-D Camera Yafei Gao 17.04.2017 - 09.10.2017 Dongheui Lee, Pietro Falco
FP: Training for hand pose estimation with augmented dataset Yongchen Lu 01.12.2016 - 01.03.2017 Dongheui Lee, Shile Li
IDP: Predict the best sets of grasping points for incoming object Viet Nguyen 16.10.2016 - 16.03.2017 Dongheui Lee, Matteo Saveriano
FP: Control and implementation of compliant actuators for exoskeletons Daniel Bargmann 02.11.2016 - 16.02.2017 Dongheui Lee, Matteo Saveriano
FP: Deep-Dynamic Movement Primitives learning using Convolutional Neural Networks Yuecheng Mao 26.09. 2016 - 28.11.2016 Dongheui Lee, Affan Pervez
FP: Deep-Dynamic Movement Primitives learning using Convolutional Neural Networks Bo Huang 12.09. 2016 - 21.11.2016 Dongheui Lee, Affan Pervez
IDP: Learning Motion Primitives from Invariant Representation Roc Reguant 09.12. 2015 - 27.10.2016 Dongheui Lee, Matteo Saveriano
FP: Real-Time Motion Planning for Human Safety Optimization Thore Goll 25.07. 2016 - 26.09.2016 Dongheui Lee, Sami Haddadin
FP:Online grasp correction exploiting previous perception experience Tobias Watzel xx.03.2016 - xx.05.2016 Dongheui Lee, Pietro Falco
FP: Learning by Demonstration with Dynamic Movement Primitives Tuan Duong Quang 15.02.2015 - 15.04.2016 Dongheui Lee
FP: Model-based Reinforcement Learning for Variable Stiffness Actuators Yuchao Yin 16.10.2015 - 24.05.2016 Dongheui Lee, Matteo Saveriano
FP: Object Prediction and Scenario Recognition for Highly Automated Vehicle Di Feng 22.09.2015 - 31.03.2016 Dongheui Lee, Oliver Scheickl
IDP: 3D Reconstruction from Depth Data using CNNs Dario Retage 01.11. 2015 - 31.03.2016 Dongheui Lee, Matteo Saveriano
IDP: Descriptors for human whole body actions based on motion coordination Eka Gibran Hasany 12.10.2015 - 29.3.2016 Dongheui Lee, Pietro Falco
IDP: Developing an algorithm for automatic generation of pHRI safety curves and visualization Hamidreza Rizeh 01.11. 2015 - 31.01.2016 Dongheui Lee, Simon Haddadin
FP: On-line Gaussian Processes for Robotics Jonas Hess 26.10.2015 - 21.01.2016 Dongheui Lee, Matteo Saveriano
FP: Object recognition and pose estimation from an RGB-D image Chiraz Nafouki 07.09.2015 - 12.2015 Dongheui Lee, Shile Li
FP: Reinforcement Learning for grasping tasks in unstructured environments Shuang Lu 07.09.2015 - 31.11.2015 Dongheui Lee, Pietro Falco
IDP: Prior Affordance Understanding with Relational Learning for Safe Human-Robot Interaction Vishal Bhalla 01.05.2015 - 01.11.2015 Dongheui Lee, Nicholas H. Kirk
FP: Learning Motion Primitives from Invariant Representation Roc Reguant 17.04.2015 - 31.10.2015 Dongheui Lee, Matteo Saveriano
FP: Online Iterative Learning Control for Capture Point based Walking Control You Yue 01.08.2015 - 09.10.2015 Dongheui Lee, Kai Hu
FP: Assembly and Control of a Humanoid Torso with Variable Stiffness Actuators Jiabin Wu 03.08.2015 - 09.10.2015 Dongheui Lee, Matteo Saveriano
IDP: Intuitive Multi-Modal Programming in a Virtual Environment Łukasz Duda 01.03.2015 - 30.06.2015 Sami Haddadin, Dongheui Lee
FP: A Graphical Tool to Prove the Stability of Non-linear Dynamical Systems Caroline Blocher 02.03.2015 - 01.05.2015 Dongheui Lee, Matteo Saveriano
IDP: Automatic POI Assignment and Ranking for the Analysis of Robot Trajectories regarding their Injury Potential in Human-Robot Interaction Tianlan Shao 01.10.2013 - 30.09.2014 Dongheui Lee, Sami Haddadin
IDP: Quadrokopter Regelung: Autonornes Folgen und Umkreisen von Menschen Oliver Dunkley 01.10.2013 - 30.06.2014 Dongheui Lee, Juergen Sturm
FP: Work Cell Analysis and Knowledge-based Velocity Scaling Andreas Spenninger 30.07.2013 - 30.09.2013 Dongheui Lee, Sami Haddadin
FP: Whole Body Human Motion Imitation by a Small Humanoid Robot using RGB-D sensors Christian Spies 13.02.2012 - 13.04.2012 Dongheui Lee

Finished bachelor thesis

Topic
Student
Term
Supervisor
BA: Reduce the Execution Time of Structured Tasks by Merging Sequential Movements Felix Franzel 04.06.2018 - 31.08.2018 Prof. Dongheui Lee, Matteo Saveriano
BA: Simplify the Symbolic Representation of Structured Tasks by Merging Sequential Behaviors Michael Seegerer 23.04.2018 - 10.08.2018 Prof. Dongheui Lee, Matteo Saveriano
BA: Modeling and Control of a Kinetic Artistic Robot Dimitri Polonski 03.05.2016 - 03.08.2016 Dongheui Lee, Sangik An
BA: Generalization of Compensative Zero-Moment Point Trajectories for Biped Walking Yilun Yu 22.04.2016 - 30.08.2016 Kai Hu, Dongheui Lee
BA: Task Parameterized-Dynamic Movement Primitives adaptation using reinforcement learning Emanuel Gebauer 15.05. 2016 - 15.10.2016 Dongheui Lee, Affan Pervez
BA: Human Movements Prediction using On-line Gaussian Processes Ziyu Wang 29.02. 2016 - 28.06.2016 Dongheui Lee, Matteo Saveriano
BA: IMU-assisted 3D object scanning with an RGB-D camera Tan Wei Jian 01.10.2015 - 31.12.2015 Dongheui Lee, Pietro Falco
BA: Analysis of faults in lightweight robotic joint and evaluation of possible fault detection techniques Sebastian Getz 20.02.2015 - 20.08.2015 Sami Haddadin, Dongheui Lee
BA: Mechatronic analysis of lightweight robotic joints Nico Maerz 20.02.2015 - 20.08.2015 Sami Haddadin, Dongheui Lee
BA: Fast Robot-Obstacles Distance Evaluation in the Depth Space Fabian Hirt 02.03.2014 - 30.06.2015 Dongheui Lee, Matteo Saveriano
BA: Nonlinear Model Predictive Control in the Application of Constrained Manipulator Control Frederik Ebert 14.05.2014 - 14.11.2014 Dongheui Lee, Sang-ik An
BA: Continuous Gesture Recognition using Layered Hidden Markov Models Julia Fumbarev 04.08.2014 - 03.11.2014 Dongheui Lee, Matteo Saveriano
BA: Invariant Representations of Rigid Body Motion Trajectories Raffaele Soloperto 03.03.2014 - 15.09.2014 Dongheui Lee, Matteo Saveriano
BA: Online Stairs Climbing of Humanoid Robot Using Depth Data Andreas Pfeuffer Kai Hu
BA: Imitation Learning of Human Grasping Skills using a five-fingered Robot Hand Alexander Kuerzl 01.04.2012 - 01.07.2012 Alexander Schmidts
BA: Online Segmentation of Haptic and Motion Time Series Data Julian Bernhard 15.03.2011 - 15.09.2011 Dongheui Lee
BA: Human Motion Imitation for a Humanoid Robot Licong Zhang 01.02.2010 - 31.07.2010 Dongheui Lee, Christian Ott

Finished IP

Topic
Student
Term
Supervisor
IP: The Role of Human Motion Anticipation in a Functional Reach Task Ziyu Wang 20.06. 2016 - 22.09.2016 Dongheui Lee, Matteo Saveriano
IP: Robotic light touch using variable impedance control Youssef Smaoui 25.11.2015 - 28.06.2016 Dongheui Lee, Matteo Saveriano
IP: Manual Guidance of Humanoid Robot without FT sensing Andreas Pfeuffer 01.09.2014 - 30.10.2014 Kai Hu
IP: Identification of brushless direct current motors Nico Maerz 01.07.2014 - 30.09.2014 Sami Haddadin