Prof. Dongheui Lee, Ph.D.

Prof. Dongheui Lee, Ph.D.
Assistant Professor

Technische Universität München
Dynamic Human-Robot-Interaction for Automation Systems
Karlstraße 45-47/V
80333 München

Raum: CCRL-II, 5009
Phone: +49 89 289 25780

Email: dhlee@tum.de

Homepage: www.hri.ei.tum.de 



Other Affiliation

Carl-von-Linde Fellow

Institute for Advanced Study (IAS), Munich, Germany


Short Biography

Since 2009: Assistant Professor, Department of Electrical Engineering and Information Technology, Technical University of Munich, Germany

2007 - 2009: Project Assistant Professor, Department of Mechano-Informatics, The University of Tokyo, Japan

2007: Postdoctoral Researcher, Department of Mechano-Informatics, The University of Tokyo, Japan

2007: Ph.D. Information Science and Technology, Department of Mechano-Informatics, The University of Tokyo, Japan - "Statistical Mimesis from Partial Observation and its Application to Humanoid Robots"

2003: M.Sc. Mechanical Engineering, Kyung Hee University, Korea - "Range Sensor Based Localization of the Mobile Service Robot in Office Environments"

2001 - 2004: Research Scientist, KIST (Korea Institute of Science and Technology), Korea

2001: B.Sc. Mechanical Engineering, Kyung Hee University, Korea


Research Interests

Human Robot Interaction

  • Symbolic Communication for physical Human Robot Interaction
  • Human-Robot Collaboration

Machine Learning for (Humanoid) Robots

  • Imitation learning 
  • Mimesis from Partial Observations 
  • Manipulation Skill Transfer from Humans to Robots
  • Association and Reshaping of Motion Primitives
  • Step-by-step Learning Approach

Computer Vision

  • 3D Motion Recovery from Monocular Images
  • Daily Life Human Motion Capturing


Working Fields

Projects

  • SAPHARI – Safe and Autonomous Physical Human-Aware Robot Interaction, Large-scale integrating project (IP), European Commission, 2011.11 ~ 2015.10, Principal Investigator, Workpackage Leader
  • Cluster of Excellence, Cognition for Technical Systems (CoTeSys), (2009 - 2014), Principal Investigator
  • DFG project "Learning and Control of Dynamic Manipulation Tasks from Human Demonstrations" (2013-2016), Coordinator
  • IAS Project "Towards Intuitive Robots" (2013-2016), Coordinator
  • BMBF Project, Bilateral Cooperation in Education and Research KIST-CoTeSys: Congition for user-friendly robots in daily life (2011-2012), Coordinator
  • Project "IRT Foundation to Support Man and Aging Society" (2007-2009)
  • Project "Development of a Silver Mate Robot Platform: 21C Frontier Intelligent Robot Technology Development Project" (2003. 9 ~ 2004. 3), Funded by Ministry of Science and Technology of Korea.
  • Project "Development of Science Museum Guide Robots" (2003. 10 ~ 2004. 3), Funded by Ministry of Science and Technology of Korea.
  • Project "Tangible Space Initiative (TSI) Techonoly Development" (2002 ~ 2004. 3), Funded by Korea Institute of Science and Technology.
  • Project "Critical Techonology-21, Service Robot Techonoly Development" (2001. 2 ~ 2003. 8), Funded by Ministry of Science and Technology of Korea.


Teaching

Semester
Description
SS 2010 Machine Learning in Robotics (neu)
WS 2010/11 Dynamic Human Robot Interaction (neu)
Hauptseminar "Kognitive Robotik und Regelung" (neu)
SS 2011 Machine Learning in Robotics
Hauptseminar "Kognitive Robotik und Regelung"
WS 2011/12 Dynamic Human Robot Interaction
Hauptseminar "Kognitive Robotik und Regelung"
SS 2012 Machine Learning in Robotics
Hauptseminar "Kognitive Robotik und Regelung"

Currently Available Thesis Topics

If you are interested in related topic in our research interest area (learning, human robot interaction, bipedal walking, motor control, perception), please contact me with your CV and academic transcript.

Master's Theses:

  • Imitation Learning of Human Grasping Skills Using a Five-Fingered Robot Hand
  • Generalization of Optimal Motion Trajectories for a Biped Walking Machine Based on Machine Learning (co-supervision by Dr. Lampariello at DLR)

Publications

Journal Articles

Nr. Titel
1 Vasiliki Koropouli, Sandra Hirche, and Dongheui Lee, Generalizing force control policies from demonstrations for constrained motion tasks in deformable environments, Journal of Intelligent and Robotic Systems, 2015 (accepted)
2 Dongheui Lee and Yoshihiko Nakamura , Motion Recognition and Recovery from Occluded Monocular Observations , Robotics and Autonomous Systems, vol. 62, no. 6n pp. 864-870, 2014.
3 S. Koo, Dongheui Lee and D. Kwon , Incremental object modeling and robust tracking of multiple objects from RGB-D point set data , Journal of Visual Communication and Image Representation, Special Issue on Visual Understanding and Applications with RGB-D Cameras, vol. 25 (1), pp. 108-121, 2013.
4 Kai Hu and Dongheui Lee , Prediction-based Synchronized Human Walking Motion Imitation by a Humanoid Robot , Automatisierungstechnik, Special Issue on Regelung von Laufrobotern , 60(2012) , no. 11 , 705-714 .
5 Dana Kulic, Christian Ott, Dongheui Lee, Junichi Ishikawa and Yoshihiko Nakamura , Incremental Learning of Full Body Motion Primitives and their Sequencing through Human Motion Observation , The International Journal of Robotics Research , 31 (2012) , no. 3 , 330-345 .
6 Dongheui Lee and Christian Ott , Incremental Kinesthetic Teaching of Motion Primitives Using the Motion Refinement Tube , Autonomous Robots , 31 (2011) , no. 2 , 115-131 .
7 Dongheui Lee, Christian Ott, Yoshihiko Nakamura , Mimetic Communication Model with Compliant Physical Contact in Human-Humanoid Interaction , The International Journal of Robotics Research ,29 (2010) , no. 13 , 1684–1704 .
8 Dongheui Lee and Yoshihiko Nakamura , Mimesis Model from Partial Observations for a Humanoid Robot , The International Journal of Robotics Research , 29 (2010) , no. 1 , 60-80 .
9 Dongheui Lee and Woojin Chung , Discrete Status based Localization for Indoor Service Robots , IEEE Transactions on Industrial Electronics , 53 (2006) , no. 5 , 1737-1746 .
10 Tae-Seok Jin, Dongheui Lee, and Jang-Myung Lee , Position Improvement of a Human-following Mobile Robot Using Image Information of Walking Human , Journal of Control, Automation, and Systems Engineering (ICASE) Special Issue - Machine vision , (2005) , (in Korean) .
11 Woojin Chung, Dongheui Lee, and Chang-Hyuk Choi , Laser Distance Sensor Application to Control of Mobile Robot , Journal of Control, Automation, and Systems Engineering (ICASE Magazine) , 8(2002) , no. 5 , 17-22 , (in Korean) .

Peer-Reviewed Conference Papers

Nr. Titel
12 Vasiliki Koropouli, Azwirman Gusrialdi and Dongheui Lee ,An adaptive dynamic inversion-extremum seeking control approach for constrained robotic motion tasks, European Control Conference (ECC), 2015
13 Sangik An and Dongheui Lee, Prioritized Inverse Kinematics with Multiple Task Definitions, in Proc. IEEE International Conference on Robotics and Automation (ICRA), 2015
14 Matteo Saveriano, Sangik An and Dongheui Lee, Incremental Kinesthetic Teaching of End-Effector and Null-Space Motion Primitives, in Proc. IEEE International Conference on Robotics and Automation (ICRA), 2015
15 Kai Hu, Christian Ott, and Dongheui Lee, Online Iterative Learning Control of Zero-Moment Point for Biped Walking Stabilization, in Proc. IEEE International Conference on Robotics and Automation (ICRA), 2015
16 Raffaele Soloperto, Matteo Saveriano and Dongheui Lee, A Bidirectional Invariant Representation of Motion for Gesture Recognition and Reproduction, in Proc. IEEE International Conference on Robotics and Automation (ICRA), 2015
17 Matteo Saveriano and Dongheui Lee, Learning Motion and Impedance Behaviors from Human Demonstrations, the 11th international conference on ubiquitous robots and ambient intelligence (URAI), 2014
18 Matteo Saveriano and Dongheui Lee, Safe Motion Generation and Online Reshaping using Dynamical Systems, the 11th international conference on ubiquitous robots and ambient intelligence (URAI), 2014 (video submission). Finalist for the Best Poster/Video Presentation Award
19 Seongyong Koo, Dongheui Lee, and Dong-Soo Kwon, "Unsupervised object individuation from RGB-D image sequences", IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2014.
20 Vasiliki Koropouli, Azwirman Gusrialdi and Dongheui Lee, ESC-MRAC of MIMO Systems for Constrained Robotic Motion Tasks in Deformable Environments, European Control Conference (ECC), 2014.
21 Sven Parusel, Hannes Widmoser, Saskia Golz, Tobias Ende, Nico Blodow, Matteo Saveriano, Alexis Maldonado, Ingo Kresse, Roman Weitschat, Dongheui Lee, Michael Beetz, Alin Albu-Sch¨affer, and Sami Haddadin, Human-Robot Interaction Planning, the 28th AAAI Conference on Artificial Intelligence (AAAI), 2014. Nomination for Best Robot Video Award
22 Vito Magnanimo, Matteo Saveriano, Silvia Rossi and Dongheui Lee, A Bayesian Approach for Task Recognition and Future Human Activity Prediction, Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man) , 2014. Nomination for the Kazuo Tanie Award
23 S. An, Dongheui Lee , Prioritized Inverse Kinematics using QR and Cholesky Decompositions , IEEE International Conference on Robotics and Automation (ICRA) , 2014.
24 Matteo Saveriano and Dongheui Lee , Distance based Dynamical System Modulation for Reactive Avoidance of Moving Obstacles , Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) , 2014.
25 Kai Hu, C. Ott, Dongheui Lee , Online Human Walking Imitation in Task and Joint Space based on Quadratic Programming , IEEE Int. Conf. on Robotics and Automation (ICRA) , 2014.
26 Jie Liu, Matteo Saveriano and Dongheui Lee, Robot Compliant Behavior through Reinforcement Learning, 7th International Workshop on Human-Friendly Robotics, 2014
27 S. Koo, Dongheui Lee, D. Kwon , GMM-based 3D Object Representation and Robust Tracking in Unconstructed Dynamic Environments , IEEE International Conference on Robotics and Automation (ICRA) , 2013 , p. 1106-1113 .
28 W. Wang, V. Koropouli, Dongheui Lee, K. Kühnlenz , Articulated Object Modeling Based on Visual and Haptic Observations , 2013 International Conference on Computer Vision Theory and Applications , 2013 , p. 253-259 .
29 Matteo Saveriano, Dongheui Lee , Invariant Representation for User Independent Motion Recognition , Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man) , 2013 , p. 650-655 .
30 Matteo Saveriano, Dongheui Lee , Invariant Representation of Motion for Gesture Recognition in Daily Life Scenarios , 6th International Workshop on Human-Friendly Robotics , 2013 .
31 Seongyong Koo, Dongheui Lee and Dong-Soo Kwon , Multiple Object Tracking Using an RGB-D Camera by Hierarchical Spatiotemporal Data Association , Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2013 , p. 1113-1118 .
32 Christian Ott, Bernd Henze, and Dongheui Lee , Kinesthetic teaching of humanoid motion based on whole-body compliance control with interaction-aware balancing , Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2013 , p. 4615-4621 .
33 Matteo Saveriano, Dongheui Lee , Point Cloud based Dynamical System Modulation for Reactive Avoidance of Convex and Concave Obstacles , Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2013 , p. 5380-5387 .
34 Matteo Saveriano, Dongheui Lee , Distance based Dynamical System Modulation for Reactive Collision Avoidance , DGR-Tage (DGR-days) , 2013 .
35 Kai Hu, Christian Ott and Dongheui Lee , Human Walking Imitation based on Quadratic Programming , 3rd German Robotics Society Days (DGR-Tage) , 2013 .
36 J.R. Medina Hernández, Dongheui Lee, S. Hirche , Risk-Sensitive Optimal Feedback Control for Haptic Assistance , IEEE International Conference on Robotics and Automation (ICRA) , 2012 .
37 M. Lawitzky, J.R. Medina Hernández, Dongheui Lee, S. Hirche , Feedback Motion Planning and Learning from Demonstration in Physical Robotic Assistance: Differences and Synergies , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 .
38 J.R. Medina Hernández, T. Lorenz, Dongheui Lee, S. Hirche , Disagreement-Aware Physical Assistance Through Risk-Sensitive Optimal Feedback Control , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 .
39 J.R. Medina Hernández, M. Shelley, Dongheui Lee, W. Takano, S. Hirche , Towards Interactive Physical Robotic Assistance: Parameterizing Motion Primitives Through Natural Language , 21st IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man) , 2012 .
40 T. Nierhoff, L. Lou, V. Koropouli, M. Eggers, T. Fritzsch, O. Kourakos, K. Kühnlenz, Dongheui Lee, B. Radig, M. Buss, S. Hirche , Tire Mounting on a Car Using the Real-Time Control Architecture ARCADE , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 , p. 4804-4805 .
41 Kai Hu, Dongheui Lee , Bipedal Locomotion Primitive Learning, Control and Prediction from Human Data , 10th International Symposium on Robot Control (SYROCO) , 2012 .
42 V. Koropouli, S. Hirche, Dongheui Lee , Learning and generalizing force control policies for sculpting, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 .
43 Licong Zhang, Juergen Sturm, Daniel Cremers, Dongheui Lee , Real-time Human Motion Tracking using Multiple Depth Cameras , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 , p. 2389-2395 .
44 Z. Liu, Dongheui Lee, W. Sepp , Particle Filter Based Monocular Human Tracking with a 3D Cardbox Model and a Novel Deterministic Resampling Strategy , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2011 , p. 3626-3631 .
45 J.R. Medina Hernández, M. Lawitzky, A. Mörtl, Dongheui Lee, S. Hirche , An Experience-Driven Robotic Assistant Acquiring Human Knowledge to Improve Haptic Cooperation , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2011 .
46 V. Koropouli, Dongheui Lee, and S. Hirche , Learning interaction control policies by demonstration , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2011 , p. 344-349 .
47 A. M. Schmidts, Dongheui Lee, and A. Peer , Imitation Learning of Human Grasping Skills from Motion and Force Data , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2011 , p. 1002- 1007 .
48 Dongheui Lee, Christian Ott, Yoshihiko Nakamura and Gerd Hirzinger , Physical Human Robot Interation in Imitation Learning , International Conference on Robotics and Automation (ICRA) , 2011, (video submission) .
49 Christian Ott, Ch. Baumgartner, J. Mayr, M. Fuchs, R. Burger, Dongheui Lee, O. Eiberger, Alin Albu-Schaffer, M. Grebenstein, and G. Hirzinger , Development of a Biped Robot with Torque Controlled Joints , IEEE International Conference on Humanoid Robots , 2010 , p. 167-173 .
50 Dongheui Lee and Christian Ott , Incremental Motion Primitive Learning by Physical Coaching Using Impedance Control , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2010 , p. 4133-4140 .
51 Dongheui Lee and Christian Ott , Iterative Motion Primitive Learning and Refinement by Complaint Motion Control , IEEE International Conference on Humanoid Robots (HUMANOIDS) workshop Humanoid Robots Learning from Human Interaction , 2010 .
52 Hirotoshi Kunori, Dongheui Lee and Yoshihiko Nakamura , Associating and Reshaping of Whole Body Motions for Object Manipulation , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2009 , p. 5240-5247 .
53 Dongheui Lee, Christian Ott and Yoshihiko Nakamura , Mimetic Communication with Impedance Control for Physical Human-Robot Interaction , IEEE International Conference on Robotics and Automation (ICRA) , 2009 , p. 1535-1542 ,
54 Dana Kulic, Dongheui Lee and Yoshihiko Nakamura , Whole Body Motion Primitive Segmentation from Monocular Video , IEEE International Conference on Robotics and Automation (ICRA) , 2009 , p. 3166-3172 .
55 Dongheui Lee, Christian Ott and Yoshihiko Nakamura , Mimetic Communication for Physical Human-Robot Interaction - Part II: Interaction Learning , the 14th Robotics Symposia , 2009 , p. 386-392 , (in Japanese) .
56 Christian Ott, Dongheui Lee and Yoshihiko Nakamura , Mimetic Communication for Physical Human-Robot Interaction - Part I: Control , the 14th Robotics Symposia , 2009 , p. 132-139 , (in Japanese) .
57 Hirotoshi Kunori, Dongheui Lee and Yoshihiko Nakamura , Association of Humanoid Whole Body Motion with Knowledge of Tools , JSME Conference on Robotics and Mechatronics (ROBOMEC) , 2008 , p. 2A1-E22 , (in Japanese) .
58 Dongheui Lee, Dana Kulic and Yoshihiko Nakamura , Whole Motion Recovery from Partial Observation Data using Factorial Hidden Markov Models , JSME Conference on Robotics and Mechatronics (ROBOMEC) , 2008 , p. 1P1-G20 , (in Japanese) .
59 Dana Kulic, Dongheui Lee, Christian Ott and Yoshihiko Nakamura , Control System Study at IRT Research Initiative of University of Tokyo - Incremental Learning of Whole Body Motion Primitives of Humans , the 26th Annual Conference of the Robotics Society of Japan (RSJ) , 2008 , p. 3F3-02 , (in Japanese) .
60 Dongheui Lee, Dana Kulic and Yoshihiko Nakamura , Missing Motion Data Recovery using Factorial Hidden Markov Models , IEEE International Conference on Robotics and Automation (ICRA) , 2008 , p. 1722-1728 .
61 Dongheui Lee, Hirotoshi Kunori and Yoshihiko Nakamura , Association of Whole Body Motion from Tool Knowledge for Humanoid Robots , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2008 , p. 2867-2874 .
62 Dana Kulic, Dongheui Lee, Christian Ott and Yoshihiko Nakamura , Incremental Learning of Full Body Motion Primitives for Humanoid Robots , IEEE International Conference on Humanoid Robots , 2008 , p. 326-332 .
63 Christian Ott, Dongheui Lee and Yoshihiko Nakamura , Motion Capture based Human Motion Recognition and Imitation by Direct Marker Control , IEEE International Conference on Humanoid Robots , 2008 , p. 399-405 .
64 Dongheui Lee and Yoshihiko Nakamura , Human Motion Understanding from 2D Partial Observation of Vector Field based on Particle Filter , JSME Conference on Robotics and Mechatronics (ROBOMEC) , 2007 , p. 1A2-M07 , (in Japanese) .
65 Dongheui Lee and Yoshihiko Nakamura , Stochastic Theory for Motion Capturing from Onboard Monocular Vision of Humanoid Robots , the 12th Robotics Symposia , 2007 , p. 424-429 .
66 Dongheui Lee and Yoshihiko Nakamura , Mimesis Scheme using a Monocular Vision System on a Humanoid , 2007 IEEE International Conference on Robotics and Automation (ICRA'07) , 2007 , p. 2162-2168 .
67 Dongheui Lee and Yoshihiko Nakamura , Motion Capturing from Monocular Vision by Statistical Inference Based on Motion Database: Vector Field Approach , 2007 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'07) , 2007 , p. 617-623 .
68 Dongheui Lee and Yoshihiko Nakamura , Probabilistic Mimesis Model: Recognition and Generation from Partial Observations , JSME Conference on Robotics and Mechatronics (ROBOMEC) , 2006 , p. 1P1-E11 , (in Japanese) .
69 Dongheui Lee and Yoshihiko Nakamura , Relaxed Viterbi Training: Fast and Reliable Symbol Acquisition of Mimesis Model , the 24th Annual Conference of the Robotics Society of Japan (RSJ) , 2006 , p. 2D22 .
70 Dongheui Lee and Yoshihiko Nakamura , Motion Recognition with a Monocular Vision System Based on Mimesis Scheme , the 24th Annual Conference of the Robotics Society of Japan (RSJ) , 2006 , p. 1M23 , (in Japanese) .
71 Dongheui Lee and Yoshihiko Nakamura , Stochastic Model of Imitating a New Observed Motion Based on the Acquired Motion Primitives , 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'06) , 2006 , p. 4994-5000 .
72 Dongheui Lee and Yoshihiko Nakamura , Probabilistic Model of Whole-body Motion Imitation from Partial Observations , The 12th International Conference on Advanced Robotics (ICAR'05) , 2005 , p. 337-343 .
73 Dongheui Lee and Woojin Chung , Dependable Localization Strategy in Dynamic Real Environments , 2005 IEEE/RSJ International Conference on Intelligent Robots And Systems (IROS'05) , 2005 , p. 860-865 .
74 Dongheui Lee and Yoshihiko Nakamura , Mimesis from Partial Observations , 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS'05) , 2005 , p. 1911-1916 .
75 Dongheui Lee, Woojin Chung, and Munsang Kim , Integrated Localizaton of the Service Robot PSR, 2004 IEEE International Conference on Robotics & Automation (ICRA'04) , 2004 , p. 4017-4022 .
76 Dongheui Lee, Woojin Chung, and Munsang Kim , A Reliable Position Estimation method of the Service Robot by Map Matching , 2003 IEEE International Conference on Robotics & Automation (ICRA'03) , 2003 , p. 2830-2835 .
77 Dongheui Lee, Woojin Chung, and Munsang Kim , Autonomous Map Building and Smart Localization of the Service Robot PSR , 2003 IEEE/RSJ International Conference on Intelligent Robots And Systems (IROS'03) , 2003 , p. 454-459, .
78 Dongheui Lee, Woojin Chung, and Munsang Kim , Experimental Research of the Map Building and Localization at Human Co-existing Real Environments , International Conference on Control, Automation and Systems (ICCAS) , 2003 , p. 1184-1189 .
79 Dongheui Lee, Woojin Chung, and Munsang Kim , Probabilistic Localization of the Service Robot by Map Matching Algorithm , International Conference on Control, Automation and Systems (ICCAS) , 2002 , p. 1667-1627 .
80 Woojin Chung, Dongheui Lee, Changjoo Lee, Gunhee Kim, Hyungjin Lee, Kihwan Kim, Munsang Kim, and Chongwon Lee , Development of The Public Service Robot PSR-1 , Proc. of 2001 Service Robot Workshop , 2001 , p. 14-19 .

Master's Thesis

Nr. Title
81 Dongheui Lee , Range Sensor Based Localization of the Mobile Service Robot in Office Environments , 2003 , MS dissertation, Kyung Hee University .

Doctorate (Ph.D.)

Nr. Title
82 Dongheui Lee , Statistical Mimesis from Partial Observation and its Application to Humanoid Robots, 2007 , PhD dissertation, The University of Tokyo .

Poster

Nr. Title
83 M. Lawitzky, A. Mörtl, J.R. Medina Hernández, Dongheui Lee, S. Hirche , Enhancing Physical Human-Robot Cooperation Through Behavior Anticipation and Interactive Planning , Proc. 5th International Conference on Cognitive Systems (CogSys) , 2012 . 
84 A. Mörtl, M. Lawitzky, J.R. Medina Hernandez, Dongheui Lee, S. Hirche , Design Concepts for Physical Human-Robot Cooperation , IROS Workshop on Learning and Interaction in Haptic Robots, 2012 .