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Available topics

TopicTypeSupervisor
Haptic interactions between humans and robots for understanding body balancing mechanismMADongheui Lee
Object pose estimation using Yale-CMU-Berkeley (YCB) object and model set and poseCNN algorithm. FPAlejandro Agostini, Shile Li
Using ORB-SLAM in dynamic environmentFPShile Li

 


Ongoing works

Topic
Student
Term
Supervisor
FP: Robotic manipulation including vision system for 6D pose estimation Mariem Khlif 26.08.2019 - 27.10.2019 Prof. Dongheui Lee
MA: Deep reinforcement learning for dexterous hand manipulation Jędrzej Orbik 03.07.2019 - xx.11.2019 Alejandro Agostini, Shile Li, Prof. Dongheui Lee
BA: Kinaesthetic Teaching of Manipulation Tasks using Physically Realistic Simulations Teodora Raicevic 01.05.2019 - xx.09.2019 Alejandro Agostini, Prof. Dongheui Lee
IP: Classification of physical robot contacts with the environment Rojda Hicsanmaz xx.05.2019 - xx.07.2019 Thomas Eiband
MA: Robotic Executions of Human-like Tasks using Task Planning and Hierarchical Tasks Structures Robert Baumgartner 01.03.2019 - xx.09.2019 Alejandro Agostini, Matteo Saveriano, Prof. Dongheui Lee
MA: Hand pose estimation for hand-object interaction cases using augmented autoencoder Haojie Wang 01.03.2019 - xx.09.2019 Shile Li, Prof. Dongheui Lee
MA: Supervised Approaches for Human Pose Estimation from 3D Point Clouds Alexander Schwer 12.12.2018 - xx.06.2019 Christoph Baur, 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

Finished master thesis

Topic
Student
Term
Supervisor
MA: Exploiting model-based reinforcement learning for non-prehensile manipulation of deformable objects Berkol Görür 03.09.2018 - 27.05.2019 Prof. Dongheui Lee, Matteo Saveriano
MA: Recognition and Tracking of Dynamic Objects Using Static Sensors Raimund Zille 01.05.2018 - 01.04.2019 Mario Aigner, Alexander Dratva, Shile Li, Prof. Dongheui Lee
MA: Link Segment Model for Functional Forward Reach Nelson Espindola 09.04.2018 - 10.12.2018 Karna Potwar, Prof. Dongheui Lee
MA: Motion Primitive Learning for Robot-Assisted Surgery Ertugrul Karademir xx.xx.2018 - 07.11.2018 Dipl.-Ing. Julian Klodmann, Prof. Dongheui Lee
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 - 29.01.2019 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: Hand motion retargeting for dexterous manipulation imitation in v-rep Jedrzej Orbik 14.12.2018 - xx.04.2019 Prof. Dongheui Lee, Shile Li
FP: Evaluating the Effects on Human Balance of a Light Haptic Feedback provided by a Wearable Device Ekin Budak 04.02.2018 - 15.04.2019 Prof. Dongheui Lee, Matteo Saveriano
FP: Hand pose estimation for hand-object interaction cases Yingyu Wu 26.11.2018 - 01.04.2019 Prof. Dongheui Lee, Shile Li
FP: Hand Pose Evaluation with Deep Metric Learning Berkol Görür 03.04.2018 - 31.01.2018 Prof. Dongheui Lee, Shile Li
FP: Comparison of Dynamics of an Ankle Based SLIP Model withe a Non Ankle Based SLIP Matthias Donderer 01.08.2018 - 8.02.2019 Prof. Dongheui Lee, Karna Potwar
FP: Development of a user interface using one-class classification methods to predict manufacturability in vehicle tire designs Hanbo Hu 10.06.2018 - 07.11.2018 Marc Vogt, Prof. Dr. Dongheui Lee, Shile Li
IDP: Collision Detection for Floating-Base Robots Daniel Gheorghita 02.04.2018 - 07.11.2018 Prof. Dongheui Lee, Alessandro Massimo Giordano
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: Exploiting internal and external force-sensing in human robot interaction Matthias Schöffel 19.11.2018 - 08.04.2019 Prof. Dongheui Lee, Thomas Eiband
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