Picture of Marion Leibold

Dr.-Ing. Marion Leibold

Technical University of Munich

Chair of Automatic Control Engineering (Prof. Buss)

Postal address

Postal:
Theresienstr. 90
80333 München

Short Biography

  • April 2007: Dr.-Ing., Fak. Elektrotechnik, TU München
  • March 2004 - April 2007: PhD student, TU München
  • January 2003 - February 2004: PhD student, TU Berlin
  • April 2002: Diploma, Techno-Mathematik, TU München

Research Interests

  • Hybrid dynamical systems
  • Optimal control
  • Legged robots

Publications

2018

  • Apostolopoulos, S; Leibold, M.; Buss, M.: Transitioning Between Underactuated Periodic Orbits: An Optimal Control Approach for Settling Time Reduction. International Journal of Humanoid Robotics 15 (06), 2018, 1850027 more… Full text ( DOI )
  • Brüdigam, T.; Ahmic, K.; Leibold, M.; Wollherr, D.: Legible Model Predictive Control for Autonomous Driving on Highways. IFAC-PapersOnLine 51 (20), 2018, 215-221 more… Full text ( DOI ) Full text (mediaTUM)
  • Brüdigam, T.; Olbrich, M.; Leibold, M.; Wollherr, D.: Combining Stochastic and Scenario Model Predictive Control to Handle Target Vehicle Uncertainty in an Autonomous Driving Highway Scenario. 2018 21st International Conference on Intelligent Transportation Systems (ITSC), 2018, 1317-1324 more… Full text ( DOI ) Full text (mediaTUM)
  • Hayat, R.; Leibold, M.; Buss, M.: Robust-adaptive controller design for robot manipulators using the H∞ approach. IEEE Access vol. 6, 2018, 51.626-51.639 more… Full text ( DOI )

2017

  • Apostolopoulos, Sotiris; Leibold, Marion; Buss, Martin: Energy Efficient and Robust Balancing with Motion Primitive Switching. International Journal of Humanoid Robotics 14 (03), 2017, 1750009 more… Full text ( DOI )
  • Dinh, K. Hoang; Weiler, P.; (Sobotka), M. Leibold; Wollherr, D.: Fast and close to optimal trajectory generation for articulated robots in reaching motions. 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2017 more…
  • Manzinger, S.; Leibold (Sobotka), M.; and Althoff, M.: Kooperative Bewegungsplanung autonomer Fahrzeuge unter Verwendung von Manöver-Templates. AAET - Automatisiertes und vernetztes Fahren, 2017, 348 - 367 more…
  • Manzinger, S.; Leibold (Sobotka), M.; and Althoff, M.: Driving strategy selection for cooperative vehicles using maneuver templates. IEEE Intelligent Vehicles Symposium, 2017 more…
  • Sun, Y.; Zhang, Z.; (Sobotka), M. Leibold; Hayat, R.; Wollherr, D.; Buss, M.: Protective control for robot manipulator by sliding mode based disturbance reconstruction approach. 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2017 more…
  • Weiß, R.; Großmann, B.; (Sobotka), M. Leibold; Schlegl, T.; Wollherr, D.: Modeling and nonlinear control of antagonistically actuating pneumatic artificial muscles. 2017 IEEE International Conference on Advanced Intelligent Mechatronics (AIM), 2017 more…

2016

  • Apostolopoulos, S.; Leibold (Sobotka), M.; and Buss, M.: Online Motion Planning Over Uneven Terrain with Walking Primitives and Regression. Proceedings of the 2016 IEEE International Conference on Robotics and Automation (ICRA), 2016 more… Full text (mediaTUM)

2015

  • Apostolopoulos, S.; Leibold (Sobotka), M.; Buss, M.: 2015 IEEE International Conference on Intelligent Robots and Systems (IROS). Settling Time Reduction for Underactuated Walking Robots, 2015, 6402-6408 more… Full text (mediaTUM)

2014

  • Apostolopoulos, S.; Leibold (Sobotka), M.; Buss, M.: Motion primitives and Gaussian processes for exponentially stable bipedal locomotion with adjustable step length. Dynamic Walking 2014 more…
  • Passenberg, B.; Leibold (Sobotka), M.; Stursberg, O.; Buss, M.: A Globally Convergent, Locally Optimal Min-H Algorithm for Hybrid Optimal Control. SIAM Journal on Control and Optimization 52 (1), 2014, 718-746 more…

2013

  • Passenberg, B.; Caines, P.E.; Leibold (Sobotka), M.; Stursberg, O.; Buss, M.: Optimal Control for Hybrid Systems With Partitioned State Space. IEEE Transactions an Automatic Control 58 (8), 2013, 2131-2136 more…

2012

  • Albrecht, S.; Basili, P.; Glasauer, S.; Leibold (Sobotka), M.; Ulbrich, M.: Modeling and Analysis of Human Navigation with Crossing Interferer Using Inverse Optimal Control. Proceedings of the 7th Vienna International Conference on Mathematical Modelling (Math Mod), 2012 more…
  • Albrecht, S.; Leibold (Sobotka), M.; Ulbrich, M.: A Bilevel Optimization Approach to Obtain Optimal Cost Functions for Human Arm Movements. Numerical Algebra, Control and Optimization (NACO) 2 (1), 2012, 105-127 more…
  • Lee, S.; Leibold (Sobotka), M.; Buss, M.; Park, F.C.: Rollover Prevention of Mobile Manipulators using Invariance Control and Recursive analytic ZMP Gradients. Advanced Robotics 26 (11-12), 2012, 1317-1341 more…
  • Lee, S.; Leibold (Sobotka), M.; Buss, M.; Park, F.C.: Online stability compensation of mobile manipulators using recursive calculation of ZMP gradients. Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), 2012 more…
  • Papageorgiou, M.; Leibold (Sobotka), M.; Buss, M.: Optimierung. Statische, dynamische, stochastische Verfahren für die Anwendung. Springer Vieweg (3. edn.), 2012 more…

2011

  • Albrecht, S.; Ramirez-Amaro, K.; Ruiz-Ugalde, F.; Weikersdorfer, D.; (Sobotka), M. Leibold; Ulbrich, M.; Beetz, M.: Imitating human reaching motions using physically inspired principles. 1th IEEE-RAS International Conference on Humanoid Robots, 2011 more…
  • Mangesius, H.; Sobotka, M.; Stursberg, O.: Consensus Based Decoupling in Hybrid Optimization of Cooperative Transportation Planning. Proceedings of the 18th IFAC World Congress, 2011 more…
  • Passenberg, B.; (Sobotka), M. Leibold; O. Stursberg,; Buss, M.: The Minimum Principle for Time-Varying Hybrid Systems with State Switching and Jumps. Proceedings of the 50th IEEE Conference on Decision and Control and European Control Conference, 2011 more…
  • Passenberg, B.; Kröninger, M.; Schnattinger, G.; (Sobotka), M. Leibold; Stursberg, O.; Buss, M.: Initialization Concepts for Optimal Control of Hybrid Systems. Proceedings of the 18th IFAC World Congress, 2011 more…
  • Steinegger, M.; Passenberg, B.; M. Leibold (Sobotka),; Buss, M.: Trajectory Planning for Manipulators based on the Optimal Concatenation of LQ Control Primitives. 50th IEEE Conference on Decision and Control and European Control Conference, 2011 more…

2010

  • Albrecht, S.; Passenberg, C.; Sobotka, M.; Peer, A.; Buss, M.; Ulbrich, M.: Optimization Criteria for Human Trajectory Formation in Dynamic Virtual Environments. Proceedings of Eurohaptics, 2010 more…
  • Kraus, S.; Albrecht, S.; Sobotka, M.; Heißing, B.; Ulbrich, M.: Optimisation-based Identification of Situation Determined Cost Functions for the Implementation of a Human-like Driving Style in an Autonomous Car. Proceedings of the 10th Int. Symp. on Advanced Vehicle Control (AVEC 2010), 2010 more…
  • Passenberg, B.; Caines, P. E.; Sobotka, M.; Stursberg, O.; Buss, M.: The Minimum Principle for Hybrid Systems with Partitioned State Space and Unspecified Discrete State Sequence. Proceedings of the 49th IEEE Conference on Decision and Control (CDC 2010), 2010 more…
  • Passenberg, B.; Sobotka, M.; Stursberg, O.; Buss, M.; Caines, P. E.: An Algorithm for Discrete State Sequence and Trajectory Optimization for Hybrid Systems with Partitioned State Space. Proceedings of the 49th IEEE Conference on Decision and Control (CDC 2010), 2010 more…
  • Scheint, M.; Sobotka, M.; Buss, M.: Optimized Parallel Joint Springs in Dynamic Motion: Comparison of Simulation and Experiment. Proceedings of the IEEE/RAS-EMBS International Conference on Biomedical Robotics and Biomechatronics (Biorob), 2010 more…

2009

  • Bätz, G.; Sobotka, M.; Wollherr, D.; Buss, M.: Robot Basketball: Ball Dribbling - A Modified Juggling Task. In: T. Kröger, F. M. Wahl (Ed.): Advances in Robotics Research. Springer, 2009, 323-334 more…
  • Mombaur, K.; Scheint, M.; Sobotka, M.: Optimal Control and Design of Bipedal Robots with Compliance. at - Automatisierungstechnik 57 (7), 2009 more…
  • Schauß, T.; Scheint, M.; Sobotka, M.; Seiberl, W.; Buss, M.: Effects of Compliant Ankles on Bipedal Locomotion. Proceedings of the 2009 IEEE International Conference on Robotics and Automation, 2009, p. 2761-2766 more…
  • Scheint, M.; Sobotka, M.; Buss, M.: Virtual holonomic constraint approach for planar bipedal walking robots extended to double support. Proceedings of the IEEE International Conference on Decision and Control (CDC), 2009 more…

2008

  • Adamek, F.; Sobotka, M.; Stursberg, O.: Stochastic Optimal Control for Hybrid Systems with Uncertain Discrete Dynamics. Proceedings of the IEEE Conference on Automation Science and Engineering, 2008 more…
  • Scheint, M.; M. Sobotka,; Buss, M.: Compliance in Gait Synthesis: Effects on Energy and Gait. Proceedings of the IEEE International Conference on Humanoid Robots, 2008 more…

2007

  • Sobotka, M.; Wolff, J.; Buss, M.: Invariance Controlled Balance of Legged Robots. Proceedings of the European Control Conference (ECC), 2007 more…

2005

  • Sobotka, M.; Buss, M.: A Hybrid Mechatronic Tilting Robot: Modeling, Trajectories, and Control. Proceedings IFAC World Congress, International Federation of Automatic Control, 2005 more…
  • Sobotka, M.; Buss, M.: Locomotion Studies for a 5-DoF Gymnastic Robot. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005 more…
  • Sobotka, M.; Buss, M.: Hybrid Modeling and Control of a Monoped Robot with Variable Foot Contact. Journal of the Society of Instrument and Control Engineers SICE 44 (7), 2005, 477-485 more…

2004

  • Sobotka, M.; Buss, M.: Hybrid Trajectory Planning for a Mechatronic Tilting System. Proceedings of the IEEE International Conference on Control Applications, 2004 more…
  • Sobotka, M.; Buss, M.: Preliminary Studies on the Control of Tilting Mechatronic Systems. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2004 more…