Older publications (2013 and earlier)

See current publication list for papers published after 2013.

  • D. Schiebener, J. Morimoto, T. Asfour and A. Ude (2013) Integrating visual perception and manipulation for autonomous learning of object representations, Adaptive Behavior, vol. 21, no. 5, pp. 328-345 (pdf file).
  • B. Nemec, R. Vuga and A. Ude (2013) Efficient sensorimotor learning from multiple demonstrations, Advanced Robotics, vol. 27, no. 13, pp. 1023–1031 (pdf file).
  • F. Wörgötter, E. E. Aksoy, N. Krüger, J. Piater, A. Ude, and M. Tamosiunaite (2013) A simple ontology of manipulation actions based on hand-object relations, IEEE Transactions on Autonomous Mental Development, vol. 5, no. 2, pp. 117-134 (pdf file).
  • T. Petrič, A. Gams, J. Babič, and L. Žlajpah (2013) Reflexive stability control framework for humanoid robots, Autonomous Robots, vol. 34, no. 4, pp. 347-361.
  • B. Ridge and A. Ude (2013) Action-Grounded Push Affordance Bootstrapping of Unknown Objects, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, pp. 2791-2798 (pdf file).
  • A. Gams, B. Nemec, L. Žlajpah, M. Waechter, A. Ijspeert, T. Asfour, and A. Ude (2013) Modulation of Motor Primitives Using Force Feedback: Interaction with the Environment and Bimanual Tasks, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, pp. 5629-5635 (pdf file).
  • M. J. Aein, E. E. Aksoy, M. Tamosiunaite, J. Papon, A. Ude, and F. Wörgötter (2013) Toward a Library of Manipulation Actions Based on Semantic Object-Action Relations, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Tokyo, Japan, pp. 4555-4562 (pdf file).
  • B. Nemec, F. Abu-Dakka, J. A. Jørgensen, T. R. Savarimuthu, B. Ridge, H. G. Petersen, J. Jouffroy, N. Krüger, and A. Ude (2013) Transfer of Assembly Operations to New Workpiece Poses by Adaptation to the Desired Force Profile, 16th International Conference on Advanced Robotics (ICAR), Montevideo, Uruguay.
  • R. Bevec and A. Ude (2013) Object Learning through Interactive Manipulation and Foveated Vision, 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Atlanta, Georgia, pp. 234-239 (pdf file).
  • M. Deniša, T. Petrič, T. Asfour, and A. Ude (2013) Synthesizing Compliant Reaching Movements by Searching a Database of Example Trajectories, 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Atlanta, Georgia, pp. 540-546 (pdf file).
  • B. Nemec, A. Gams, and A. Ude (2013) Velocity Adaptation for Self-Improvement of Skills Learned from User Demonstrations, 2013 13th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Atlanta, Georgia, pp. 423-428 (pdf file).
  • E. E. Aksoy, M. Tamosiunaite, R. Vuga, A. Ude, C. Geib, M. Steedman, and F. Wörgötter (2013) IEEE International Conference on Development and Learning and Epigenetic Robotics (ICDL-EPIROB), Structural bootstrapping at the sensorimotor level for the fast acquisition of action knowledge for cognitive robots, Osaka, Japan.
  • T. R. Savarimuthu, D. Liljekrans, L.-P. Ellekilde, A. Ude, B. Nemec and N. Krüger (2013) Analysis of Human Peg-in-Hole Executions in a Robotic Embodiment Using Uncertain Grasps, 9th International Workshop on Robot Motion and Control (RoMoCo), Wasowo, Poland, pp. 233-239 (pdf file).
  • R. Vuga, M. Ogrinc, A. Gams, T. Petrič, N. Sugimoto, A. Ude, and J. Morimoto (2013) Motion Capture and Reinforcement Learning of Dynamically Stable Humanoid Movement Primitives, IEEE International Conference on Robotics and Automation (ICRA), Karlsruhe, Germany, pp. 5284-5290 (pdf file).
  • D. Forte, A. Gams, J. Morimoto, and A. Ude (2012) On-line motion synthesis and adaptation using a trajectory database, Robotics and Autonomous Systems, vol. 60, no. 10, pp. 1327-1339 (pdf file).
  • B. Nemec and A. Ude (2012) Action sequencing using dynamic movement primitives, Robotica, vol. 30, no. 5, pp. 837-846 (pdf file).
  • A. Ude, D. Schiebener, N. Sugimoto, and J. Morimoto (2012) Integrating surface-based hypotheses and manipulation for autonomous segmentation and learning of object representations, IEEE International Conference on Robotics and Automation (ICRA), Saint Paul, Minnesota, pp. 1709-1715 (pdf file). Finalist for Best Cognitive Robotics Paper award.
  • B. Nemec, D. Forte, R. Vuga, M. Tamosiunaite, F. Wörgötter, and A. Ude (2012) Applying statistical generalization to determine search direction for reinforcement learning of movement primitives, 2012 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Osaka, Japan, pp. 65-70 (pdf file).
  • M. Deniša and A. Ude (2013) Discovering new motor primitives in transition graphs, 12th International Conference on Intelligent Autonomous Systems, IAS 2012, Jeju Island, Korea, Advances in Intelligent Systems and Computing, Volume 193, pp. 219-230.
  • M. Tamosiunaite, B. Nemec, A. Ude, and F. Wörgötter (2011) Learning to pour with a robot arm; combining goal and shape learning for dynamic movement primitives, Robotics and Autonomous Systems, vol. 59, pp. 910-922 (pdf file).
  • N. Krüger, C. Geib, J. Piater, R. Petrick, M. Steedman, F. Wörgötter, A. Ude, T. Asfour, D. Kraft, D. Omrčen, A. Agostini, and R. Dillmann (2011) Object–Action Complexes: Grounded abstractions of sensory–motor processes, Robotics and Autonomous Systems, vol. 59, pp. 740-757 (pdf file).
  • T. Petrič, A. Gams, A. Ijspeert, and L. Žlajpah (2011) On-line frequency adaptation and movement imitation for rhythmic robotic tasks, The International Journal of Robotics Research, vol. 30, no. 14, pp. 1775-1788.
  • A. Gams, T. Petrič, J. Babič, L. Žlajpah, and A. Ude (2011) Constraining movement imitation with reflexive behavior: robot squatting, 2011 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Bled, Slovenia. pp. 294-299 (pdf file).
  • D. Schiebener, A. Ude, J. Morimoto, T. Asfour, and R. Dillmann (2011) Segmentation and learning of unknown objects through physical interaction, 2011 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Bled, Slovenia, pp. 500-506 (pdf file).
  • D. Forte, A. Ude, and A. Gams (2011) Real-time generalization and integration of different movement primitives, 2011 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Bled, Slovenia, pp. 590-595.
  • B. Nemec, R. Vuga, and A. Ude (2011) Exploiting previous experience to constrain robot sensorimotor learning, 2011 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Bled, Slovenia, pp. 727-732 (pdf file).
  • T. Petrič, B. Nemec, J. Babič, and L. Žlajpah (2011) Multilayer control of skiing robot, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), San Francisco, pp. 4832-4837.
  • B. Nemec and A. Ude (2011) Reinforcement learning of ball-in-a-cup playing robot, 2011 IEEE International Conference on Robotics and Biomimetics (ROBIO), Pukhet, Thailand, pp. 2682-2687.
  • A. Ude, A. Gams, T. Asfour, and J. Morimoto (2010) Task-specific generalization of discrete and periodic dynamic movement primitives, IEEE Transactions on Robotics, vol. 26, no. 5, pp. 800-815 (pdf file).
  • V. Krüger, D. Herzog, S. Baby, A. Ude, and D. Kragic (2010) Learning actions from observations; Primitive-Based Modeling and Grammar, IEEE Robotics and Automation Magazine, vol. 17, no. 2, pp. 30-43 (pdf file).
  • D. Omrčen and A. Ude (2010) Redundancy control of a humanoid head for foveation and three-dimensional object tracking: A virtual mechanism approach, Advanced Robotics, vol. 24, no. 15, pp. 2171-2197 (pdf file).
  • R. Dillmann, T. Asfour, M Do, R. Jäkel, A. Kasper, P. Azad, A. Ude, S. R. Schmidt-Rohr, and M. Lösch (2010) Advances in robot programming by demonstration, Künstliche Intelligenz, vol. 24, no. 4, pp. 295-303 (pdf file).
  • E. Stergaršek Kuzmič and A. Ude (2010) Object segmentation and learning through feature grouping and manipulation, 2010 10th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nashville, Tennessee, pp. 371-378 (pdf file).
  • A. Gams, M. Do, A. Ude, T. Asfour, and R. Dillmann (2010) On-line periodic movement and force-profile learning for adaptation to new surface, 2010 10th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Nashville, Tennessee, pp. 560-565 (pdf file).
  • D. Omrčen and A. Ude (2010) Redundant control of a humanoid robot head with foveated vision for object tracking, IEEE International Conference on Robotics and Automation (ICRA), Anchorage, Alaska, pp. 4151-4156 (pdf file).
  • A. Gams, T. Petrič, L. Žlajpah, and A. Ude (2010) Optimizing parameters of trajectory representation for movement generalization: robotic throwing, 2010 IEEE 19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD), Budapest & Balatonfüred, Hungary, pp. 161-166. Best Scientific Paper award.
  • T. Petrič, A. Gams, A. Ude, and L. Žlajpah (2010) Real-time 3D marker tracking with a WIIMOTE stereo vision system: Application to robotic throwing, 2010 IEEE 19th International Workshop on Robotics in Alpe-Adria-Danube Region (RAAD), Budapest & Balatonfüred, Hungary, pp. 357-362.
  • A. Gams, A. Ijspeert, S. Schaal, and J. Lenarčič (2009) On-line learning and modulation of periodic movements with nonlinear dynamical systems, Autonomous Robots, vol. 27, no. 1, pp. 3-23 (pdf file).
  • L. Lahajnar, A. Kos, and B. Nemec (2009) Skiing robot – design, control, and navigation in unstructured environment, Robotica, vol. 27, no. 4, pp. 567-577 (pdf file).
  • B. Nemec and L. Lahajnar (2009) Control and navigation of the skiing robot, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), St. Louis, Missouri, pp. 2321-2326. NTF Award for Entertainment Robots and Systems (pdf file).
  • A. Gams and A. Ude (2009) Generalization of example movements with dymanic systems. 2009 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Paris, France, pp. 28-33 (pdf file).
  • D. Omrčen, C. Böge, T. Asfour, A. Ude, and R. Dillmann (2009) Automonous acquisition of pushing actions to support object grasping with a humanoid robot, 2009 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Paris, France, pp. 277-283 (pdf file).
  • B. Nemec, M. Tamosiunaite, F. Wörgötter, and A. Ude (2009) Task adaptation thorough exploration and action sequencing, 2009 9th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Paris, France, pp. 610-616 (pdf file).
  • A. Ude and E. Oztop (2009) Active 3-D vision on a humanoid head, 2009 International Conference on Advanced Robotics (ICAR), Munich, Germany (pdf file).
  • A. Ude, D. Omrčen, and G. Cheng (2008) Making object learning and recognition an active process, International Journal of Humanoid Robotics, vol. 5, no. 2, pp. 267-286 (pdf file).
  • J. Moren, A. Ude, A. Koene, and G. Cheng (2008) Biologically based top-down attention modulation for humanoid interactions, International Journal of Humanoid Robotics, vol. 5, no. 1, pp. 3-24 (pdf file).
  • B. Nemec and L. Žlajpah (2008) Robotic cell for custom finishing operations, International Journal of Computer Integrated Manufacturing, vol. 21, no. 1, pp. 33-42 (pdf file)
  • A. Gams, L. Righetti, A. J. Ijspeert, and J. Lenarčič (2008) A dynamical system for online learning of periodic movements of unknown waveform and frequency, 2nd IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics, pp. 85-90.
  • D. Omrčen, A. Ude, and A. Kos (2008) Learning primitive actions through object exploration, 8th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Daejeon, Korea, pp. 306-311 (pdf file).
  • D. Herzog, A. Ude, and V. Krüger (2008) Motion imitation and recognition using parametric hidden Markov models, 8th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Daejeon, Korea, pp. 339-346 (pdf file).
  • T. Asfour, K. Welke, P. Azad, A. Ude, R. Dillmann (2008) The Karlsruhe humanoid head, 8th IEEE-RAS International Conference on Humanoid Robots (Humanoids), pp. 447-453 (pdf file).
  • A. Ude and T. Asfour (2008) Control and recognition on a humanoid head with cameras having different field of view, The 19th International Conference on Pattern Recognition (ICPR), Tampa, Florida, pp. 1-4.
  • G. Cheng, S. Hyon, J. Morimoto, A. Ude, J. G. Hale, G. Colvin, W. Scroggin, and S. C. Jacobsen (2007) CB: a humanoid research platform for exploring neuroscience, Advanced Robotics, vol. 21, no. 10, pp. 1097-1114 (pdf file).
  • V. Krueger, D. Kragic, A. Ude, and C. Geib (2007) The meaning of action: a review on action recognition and mapping, Advanced Robotics, vol. 21, no. 13, pp. 1473-1501 (pdf file).
  • A. Gams, L. Žlajpah, and J. Lenarčič (2007) Imitating human acceleration of a gyroscopic device, Robotica, vol. 25, no. 4., pp. 501-509.
  • B. Nemec, L. Žlajpah, and D. Omrčen (2007) Comparison of null-space and minimal null-space control algorithms, Robotica, vol. 25, no. 5, pp. 511-520.
  • P. Azad, A. Ude, T. Asfour, and R. Dillmann (2007) Stereo-based markerless human motion capture for humanoid robot systems, IEEE International Conference on Robotics and Automation (ICRA), Rome, Italy, pp. 3951-3956 (pdf file).
  • A. Ude, M. Riley, B. Nemec, A. Kos, T. Asfour, and G. Cheng (2008) Synthesizing goal-directed actions from a library of example movements. 2007 7th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Pittsburgh, Pennsylvania, pp. 115-121 (pdf file).
  • D. Omrčen, A. Ude, K. Welke, T. Asfour, and R. Dillmann (2008) Sensorimotor processes for learning object representations. 2007 7th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Pittsburgh, Pennsylvania, pp. 143-150 (pdf file). Finalist for Best Paper award.
  • A. Ude, C. Gaskett, and G. Cheng (2006) Foveated vision systems with two cameras per eye, IEEE International Conference on Robotics and Automation (ICRA), Orlando, Florida, pp. 3457-3462 (pdf file).
  • M. Riley, A. Ude, C. G. Atkeson, and G. Cheng (2006) Coaching: an approach to efficiently and intuitively create humanoid robot behaviors, 6th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Genoa, Italy, pp. 567-573 (pdf file).
  • K. Welke, E. Oztop, A. Ude, R. Dillmann, and G. Cheng (2006) Learning feature representations for an object recognition system, 6th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Genoa, Italy, pp. 290-295.
  • G. Cheng, S.-H. Hyon, J. Morimoto, A. Ude, G. Colvin, and W. Scroggin (2006) CB: a humanoid research platform for exploring NeuroScience. 6th IEEE-RAS International Conference on Humanoid Robots (Humanoids), Genoa, Italy, pp. 182-187.
  • A. Gams and J. Lenarčič (2006) Humanoid arm kinematic modeling and trajectory generation, The First IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), Pisa, Italy, pp. 301-305.
  • C. Gaskett, A. Ude, and G. Cheng (2005) Hand-eye coordination through endpoint closed-loop and learned endpoint open-loop visual servo control, International Journal of Humanoid Robotics, vol. 2, pp. 203-224.
  • A. Ude, V. Wyart, L.-H. Lin, and G. Cheng (2005) Distributed Visual Attention on a Humanoid Robot, IEEE-RAS/RSJ International Conference on Humanoid Robots (Humanoids), Tsukuba, Japan, pp. 381-386 (pdf file).
  • A. Ude, C. G. Atkeson, and M. Riley (2004) Programming full-body movements for humanoid robots by observation, Robotics and Autonomous Systems, vol. 47, pp. 93-108 (pdf file).
  • D. C. Bentivegna, C. G. Atkeson, A. Ude, and G. Cheng (2004) Learning to act from observation and practice, International Journal of Humanoid Robotics, vol. 1, no. 4, pp. 585-611 (pdf file).
  • A. Ude, C. Gaskett, and G. Cheng (2004) Support vector machines and Gabor kernels for object recognition on a humanoid with active foveated vision, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sendai, Japan, pp. 668-672 (pdf file).
  • P. Azad, A. Ude, R. Dillmann, and G. Cheng (2004) A full body human motion capture system using particle filtering and on-the-fly edge detection, IEEE-RAS/RSJ International Conference on Humanoid Robots (Humanoids), Los Angeles, California (pdf file).
  • A. Ude and G. Cheng (2004) Object recognition on humanoids with foveated vision, IEEE-RAS/RSJ International Conference on Humanoid Robots (Humanoids), Los Angeles, California (pdf file).
  • A. Ude and C. G. Atkeson (2003) Online Tracking and Mimicking of Human Movements by a Humanoid Robot, Advanced Robotics, vol. 17, pp. 165-178 (pdf file).
  • A. Ude, C. G. Atkeson, and G. Cheng (2003) Combining peripheral and foveal humanoid vision to detect, pursue, recognize and act, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Las Vegas, Nevada, pp. 2173-2178 (pdf file).
  • A. Ude (2003) Interactive Reproduction of Human Movements by a Humanoid Robot, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Karlsruhe & Munich, Germany.
  • M. Riley, A. Ude, K. Wade, and C. G. Atkeson (2003) Enabling real-time full-body imitation: a natural way of transferring human movement to humanoids, IEEE International Conference on Robotics and Automation (ICRA), Taipei, Taiwan, pp. 2368-2374 (pdf file).
  • B. Nemec and L. Žlajpah (2002) Force control of redundant robots in unstructured environment, IEEE Transactions on Industrial Electronics, vol. 49, pp. 233-240 (pdf file).
  • B. Nemec and L. Žlajpah (2002) Experiments with force control of redundant robots in unstructured environment using minimal null-space formulation, Journal of Advanced Computational Intelligence, vol. 5, pp. 263-268.
  • A. Ude and C. G. Atkeson (2002) Probabilistic detection and tracking at high frame rates using affine warping, 16th International Conference on Pattern Recognition (ICPR), Québec City, QC, Canada, pp. 6-9 (pdf file).
  • D. C. Bentivegna, A. Ude, C. G. Atkeson, and G. Cheng (2002) Humanoid robot learning and game playing using PC-based vision, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Lausanne, Switzerland, pp. 2449-2454 (pdf file).
  • A. Ude, T. Shibata, and C. G. Atkeson (2001) Real-time visual system for interaction with a humanoid robot, Robotics and Autonomous Systems, vol. 37, pp. 115-125 (pdf file).
  • A. Ude (2001) Robust human motion estimation using detailed shape and texture models, Journal of the Robotics Society of Japan, vol. 19, no. 5, pp. 15-18.
  • A. Ude and C. G. Atkeson (2001) Real-time visual system for interaction with a humanoid robot, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Maui, Hawaii, pp. 746-751.
  • C. G. Atkeson, J. G. Hale, F. Pollick, M. Riley, S. Kotosaka, S. Schaal, T. Shibata, G. Tevatia, A. Ude, S. Vijayakumar, and M. Kawato (2000) Using humanoid robots to study human behavior, IEEE Intelligent Systems, vol. 15, no. 4, pp. 46-56 (pdf file).
  • A. Ude, C. Man, M. Riley, and C. G. Atkeson (2000) Automatic Generation of Kinematic Models for the Conversion of Human Motion Capture Data into Humanoid Robot Motion, IEEE-RAS International Conference on Humanoid Robots (Humanoids), Boston, Massachusetts.
  • B. Nemec and L. Žlajpah (2000) Null space velocity control with dynamically consistent pseudo-inverse, Robotica, vol. 18, pp. 513-518.
  • A. Ude, C. G. Atkeson, and M. Riley (2000) Planning of joint trajectories for humanoid robots using B-spline wavelets, IEEE International Conference on Robotics and Automation (ICRA), San Francisco, California, pp. 2223-2228 (pdf file).
  • A. Ude (1999) Filtering in a unit quaternion space for model-based object tracking, Robotics and Autonomous Systems, vol. 28, no. 2-3, pp. 163-172 (pdf file).
  • A. Ude (1999) Robust estimation of human body kinematics from video, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyongju, Korea, pp. 1489-1494 (pdf file).
  • A. Ude and M. Riley (1999) Prediction of body configurations and appearance for model-based estimation of articulated human motions, IEEE International Conference on Systems, Man, and Cybernetics, Tokyo, Japan, pp. II-687-II-691.
  • A. Ude (1998) Nonlinear least squares optimisation of unit quaternion functions for pose estimation from corresponding features, 14th International Conference on Pattern Recognition (ICPR), Brisbane, Australia, pp. 425-427 (pdf file).
  • A. Ude (1993) Trajectory generation from noisy positions of object features for teaching robot paths, Robotics and Autonomous Systems, vol. 11, pp. 113-127 (pdf file).