Daniel Leidner — accepted AI-conference papers

2026

Calibration of Error Distributions in Robot Kinematics for Increased Precision in Manipulation Tasks

Tim Gerstewitz, Peter Lehner, Lukas Burkhard, Natalija Topalovic, Alin Albu-Schäffer, Daniel Leidner +1

RA-L 2026

The accuracy of robotic forward kinematics is commonly improved by calibration. However, most calibration methods only take deterministic errors, such as inaccurate geometry and unknown stiffnesses, into account and neglect errors with stochastic characteristics, including joint friction, gear backl

Cited by 0 Source ↗Scholar ↗

2026

Reaction Templates: A Formal Approach to Realize Reactivity in Task and Motion Planning-Based Action Execution

Anne Köpken, Adrian Simon Bauer, Nesrine Batti, Daniel Leidner

ICRA 2026poster

Recent advancements in artificial intelligence have broadened the spectrum of tasks that robots can effectively tackle. However, the seamless execution of prolonged action sequences continues to pose a considerable challenge, attributed to limitations in the abilities of today's robots to react to u…

Cited by 0 Scholar ↗

2024

Feasibility Checking and Constraint Refinement for Shared Control in Assistive Robotics

Samuel Bustamante-Gomez, Ismael Rodríguez, Gabriel Quere, Peter Lehner, Maged Iskandar, Daniel Leidner +4

RA-L 2024

Shared control enables users with motor impairments to control high-dimensional assistive robots with low-dimensional user interfaces. The challenge is to simultaneously 1) provide support for completing daily living tasks 2) enable sufficient freedom of movement to foster user empowerment 3) ensure

Cited by 4 Source ↗Scholar ↗

2022

CATs: Task Planning for Shared Control of Assistive Robots with Variable Autonomy

Samuel Bustamante, Gabriel Quere, Daniel Leidner, Jörn Vogel, Freek Stulp

ICRA 2022poster

From robotic space assistance to healthcare robotics, there is increasing interest in robots that offer adaptable levels of autonomy. In this paper, we propose an action representation and planning framework that is able to generate plans that can be executed with both shared control and supervised…

Cited by 11 Source ↗Scholar ↗

2021

Toward Seamless Transitions Between Shared Control and Supervised Autonomy in Robotic Assistance

Samuel Bustamante-Gomez, Gabriel Quere, Katharina Hagmann, Xuwei Wu, Peter Schmaus, Jörn Vogel +2

RA-L 2021

Assistive robots aim to help humans with impairments execute motor tasks in everyday household environments. Controlling the end-effector of such robots directly, for instance with a joystick, is often cumbersome. Shared control methods, like Shared Control Templates (SCTs) [1], have therefore been

Cited by 19 Source ↗Scholar ↗

2020

EDAN: An EMG-controlled Daily Assistant to Help People With Physical Disabilities

Jörn Vogel, Annette Hagengruber, Maged Iskandar, Gabriel Quere, Ulrike Leipscher, Samuel Bustamante +4

IROS 2020poster

Injuries, accidents, strokes, and other diseases can significantly degrade the capabilities to perform even the most simple activities in daily life. A large share of these cases involves neuromuscular diseases, which lead to severely reduced muscle function. However, even though affected people are…

Cited by 45 Source ↗Scholar ↗

2020

Knowledge Driven Orbit-to-Ground Teleoperation of a Robot Coworker

Peter Schmaus, Daniel Leidner, Thomas Krüger, Ralph Bayer, Benedikt Pleintinger, Andre Schiele +1

RA-L 2020

The crewed exploration of Moon and Mars requires the construction and maintenance of infrastructure on the alien surfaces before a crew arrives. Robotic coworkers are envisioned to take over the physical labor required to set-up crew habitats, energy supplies, and return vehicles in the hazardous en

Cited by 41 Source ↗Scholar ↗

2020

Pattern Recognition for Knowledge Transfer in Robotic Assembly Sequence Planning

Ismael Rodríguez, Korbinian Nottensteiner, Daniel Leidner, Maximilian Durner, Freek Stulp, Alin Albu-Schäffer

RA-L 2020

The autonomous assembly of customized products is highly demanded in future manufacturing scenarios. This requires robotic systems being able to adapt to individual products without increasing overall production time. However, increasingly complex assemblies lead to a growing number of potential ass

Cited by 34 Source ↗Scholar ↗

2020

Probabilistic Effect Prediction through Semantic Augmentation and Physical Simulation

Adrian S. Bauer, Peter Schmaus, Freek Stulp, Daniel Leidner

ICRA 2020poster

Nowadays, robots are mechanically able to perform highly demanding tasks, where AI-based planning methods are used to schedule a sequence of actions that result in the desired effect. However, it is not always possible to know the exact outcome of an action in advance, as failure situations may occu…

Cited by 23 Source ↗Scholar ↗

2020

Shared Control Templates for Assistive Robotics

Gabriel Quere, Annette Hagengruber, Maged Iskandar, Samuel Bustamante, Daniel Leidner, Freek Stulp +1

ICRA 2020poster

Light-weight robotic manipulators can be used to restore the manipulation capability of people with a motor disability. However, manipulating the environment poses a complex task, especially when the control interface is of low bandwidth, as may be the case for users with impairments. Therefore, we…

Cited by 72 Source ↗Scholar ↗

2019

Iteratively Refined Feasibility Checks in Robotic Assembly Sequence Planning

Ismael Rodríguez, Korbinian Nottensteiner, Daniel Leidner, Michael Kaßecker, Freek Stulp, Alin Albu-Schäffer

RA-L 2019

Due to shorter product life cycles and increasing customization, production lines must be able to quickly adapt to novel product variants. This requires the automatic generation of assembly sequence plans from product specifications, as manual engineering of plans is slow and labor intensive. The ma

Cited by 54 Source ↗Scholar ↗

2018

Design, Execution, and Postmortem Analysis of Prolonged Autonomous Robot Operations

Sebastian G. Brunner, Peter Lehner, Martin J. Schuster, Sebastian Riedel, Rico Belder, Daniel Leidner +3

RA-L 2018

In the context of space missions and terrestrial applications, both mission goals and task implementations for autonomous robots are becoming increasingly complex. Thus, the challenge of monitoring the achievement of task objectives and checking the correctness of their implementation is becoming mo

Cited by 8 Source ↗Scholar ↗

2018

Inferring Semantic State Transitions During Telerobotic Manipulation

Adrian S. Bauer, Peter Schmaus, Alin Albu-Schäffer, Daniel Leidner

IROS 2018poster

Human teleoperation of robots and autonomous operations go hand in hand in today's service robots. While robot teleoperation is typically performed on low to medium levels of abstraction, automated planning has to take place on a higher abstraction level, i.e. by means of semantic reasoning. Accordi…

Cited by 12 Source ↗Scholar ↗

2018

Preliminary Insights From the METERON SUPVIS Justin Space-Robotics Experiment

Peter Schmaus, Daniel Leidner, Thomas Krüger, Andre Schiele, Benedikt Pleintinger, Ralph Bayer +1

RA-L 2018

As the human race expands its horizon toward a multiplanetary existence, infrastructures on the target planets have to be constructed and maintained to pave the way for humans. The support of robotic coworkers plays a key role in setting up habitats, energy supplies, and return vehicles, until the c

Cited by 42 Source ↗Scholar ↗

2015

Classifying compliant manipulation tasks for automated planning in robotics

Daniel Leidner, Christoph Borst, Alexander Dietrich, Michael Beetz, Alin Albu-Schäffer

IROS 2015poster

Many household chores and industrial manufacturing tasks require a certain compliant behavior to make deliberate physical contact with the environment. This compliant behavior can be implemented by modern robotic manipulators. However, in order to plan the task execution, a robot requires generic pr…

Cited by 37 Source ↗Scholar ↗