Detail Page
Dr.-Ing. Dirk Wollherr
Contact Information
E-mail: 
Phone: +49-89-289-23401
Room: N2501
 
Other Affiliation

Carl-von-Linde Junior Fellow
Institute of Advanced Study (IAS)
Technische Universität München
 
Short Biography

Dirk Wollherr is currently senior researcher and lecturer (since July 2005) at the Institute of Automatic Control Engineering, Faculty of Electrical Engineering and Information Technology, Technische Universität München, Munich, Germany and TUM Carl-von-Linde Junior Fellow, Instiute of Advanced Studies since 2010. He received the diploma engineer degree in Electrical Engineering in 2000 and the Doctor of Engineering degree in Electrical Engineering in 2005 from the Technische Universität München, Munich, Germany. From 2001-2004 he has been research assistant at the Control Systems Group, Technische Universität Berlin, Germany. In 2004 he has been granted a research fellowship from the Japanese Society for the Promotion of Science (JSPS) at the Yoshihiko-Nakamura-Lab, The University of Tokyo, Japan. From 2006-2008 Dr. Wollherr has been General Manager of the Cluster of Excellence “Cognition for Technical Systems (CoTeSys)” and since 2005 he is principal investigator, independent junior research group leader, and research area leader within CoTeSys. Furthermore, he has been active in dissemination, e.g. General Chair of the German “Robotik 2008” conference and Finance Chair of RO-MAN 2008, as well as in several EU projects, e.g. Robot@CWE, CyberWalk, and Movement. His research interests include automatic control, robotics, autonomous mobile robots, human-robot-interaction, and humanoid walking.

 

Research Interests

Mobile Robot

Human-Robot Interaction

  • Natural and intuitive robot information retrieval from humans
  • Information validation
  • Fusion of information from multiple sources, especially fusion of metric sensor data and topologic information from humans

Environment understanding and object recognition

Fast manipulation with non-negligible dynamics

  • Fast sensor fusion of haptic and visual modality
  • Fast manipulation with force constraints

Related Research Projects

 

Publications
Journal Articles
1. B. Kühnlenz (Gonsior), S. Sosnowski, M. Buß, D. Wollherr, K. Kühnlenz, M. Buss , Increasing Helpfulness towards a Robot by Emotional Adaption to the User , International Journal of Social Robotics (IJSR) , (2013) .
2. G. Bätz, B. Weber, M. Scheint, D. Wollherr, M. Buss , Dynamic Contact Force/Torque Observer: Sensor Fusion for Improved Interaction Control , International Journal of Robotics Research , (2013) , accepted.
3. D. Althoff, J. J. Kuffner, D. Wollherr, M. Buss , Safety Assessment of Robot Trajectories for Navigation in Uncertain and Dynamic Environments , Autonomous Robots (Special Issue on Motion Safety for Robots) , 32 (2012) , 285-302 .
4. B. Gonsior, C. Landsiedel, N. Mirnig, S. Sosnowski, E. Strasser, J. Zlotowski, M. Buss, K. Kühnlenz, M. Tscheligi, A. Weiss, D. Wollherr , Impacts of Multimodal Feedback on Efficiency of Proactive Information Retrieval from Task-Related HRI , Journal of Advanced Computational Intelligence and Intelligent Informatics (JACIII), Special Issue on Cognitive Infocommunications , 16 (2012) , no. 2 , 313-326 .
5. F. Rohrmüller, D. Wollherr, M. Buss , MuRoCo: A Framework for Capability- and Situation-Aware Coalition Formation in Cooperative Multi-Robot Systems , Journal of Intelligent & Robotic Systems , 67 (2012) , 339-370 , Online First (DOI 10.1007/s10846-012-9654-0) .
6. G. Bätz, M. Scheint, D. Wollherr , Towards Dynamic Manipulation for Humanoid Robots: Experiments and Design Aspects , International Journal of Humanoid Robots , 08 (2011) , no. 513 .
7. G. Lidoris, F. Rohrmüller, D. Wollherr, M. Buss , System Interdependence Analysis For Autonomous Robots , The International Journal of Robotics Research , 30 (2011) , 601--614 .
8. Q. Mühlbauer, T. Xu, A. Bauer, K. Klasing, G. Lidoris, F. Rohrmüller, S. Sosnowski, K. Kühnlenz, D. Wollherr, M. Buss , Wenn Roboter nach dem Weg fragen / Navigation by natural human-Robot Interaction , at - Automatisierungstechnik , 58 (2010) , no. 11 , 647 - 656 .
9. M. Rambow, F. Rohrmüller, O. Kourakos, D. Brščić, D. Wollherr, S. Hirche, M. Buss , A Framework for Information Distribution, Task Execution and Decision Making in Multi-Robot Systems , IEICE Transactions on Information and Systems , E93-D (2010) , no. 6 , p. 1352-1360 .
10. A. Bauer, K. Klasing, G. Lidoris, Q. Mühlbauer, F. Rohrmüller, S. Sosnowski, T. Xu, K. Kühnlenz, D. Wollherr, M. Buss , The Autonomous City Explorer: Towards Natural Human-Robot Interaction in Urban Environments , International Journal of Social Robotics , 1 (2009) , no. 2 , 127-140 .
11. A. Bauer, D. Wollherr, M. Buss , Human-Robot Collaboration: A Survey , International Journal of Humanoid Robotics (IJHR) , 5 (2008) , no. 4 , 47 - 66 , (Electronic version of an article published as [IJHR, 5, 4, 2008, 47-66] [DOI 10.1142/S0219843608001303] © [copyright World Scientific Publishing Company] [http://www.worldscinet.com/ijhr/]) .
12. M. Buss, M. Beetz, and D. Wollherr , CoTeSys — Cognition for Technical Systems , International Journal of Assistive Robotics and Mechatronics , 8 (2007) , no. 4 , 25-36 .
13. D. Wollherr , Online Posture Correction for Humanoid Walking Robots , at -- Automatisierungstechnik , 54 (2006) , no. 8 , 396-404 .
14. D. Wollherr and M. Buss , Cost Oriented Virtual Reality and Realtime Control System Architecture , Robotica , 21 (2003) , no. 3 , 289-294 .
15. J. Mareczek, D. Wollherr, M. Buss, und G. Schmidt , Überschlagsvermeidung bei Kraftfahrzeugen durch Invarianzregelung , at -- Automatisierungstechnik , 50 (2002) , no. 2 , 70-78 .
Books
16. D. Wollherr , Design and Control Aspects of Humanoid Walking Robots , 2005 .
Bookchapters
17. G. Bätz, D. Wollherr, K. Kühnlenz, M. Buss , Robot Basketball: A New Challenge for Real-Time Control (accepted) , Springer (Berlin / Heidelberg) , 2011 .
18. G. Bätz, M. Sobotka, D. Wollherr, M. Buss , Robot Basketball: Ball Dribbling - A Modified Juggling Task , Springer (Berlin / Heidelberg) , 2009 .
19. G. Lidoris, D. Wollherr, M. Buss , Bayesian Framework for State Estimation and Robot Behaviour Selection in Dynamic Environments , no. ISBN 978-953-7619-27-5 , IN-TECH , Vienna, Austria , 2008 .
20. K. Kühnlenz, G. Lidoris, D. Wollherr, M. Buss , On Foveated Gaze Control and Combined Gaze and Locomotion Planning , A. C. de Pina Filho ed. , Advanced Robotic Systems Int. and I-Tech Education and Publishing , Vienna, Austria , 2007 .
21. K. Kühnlenz, G. Lidoris, D. Wollherr, M. Buss , On Foveated Gaze Control and Combined Gaze and Locomotion Planning , Advanced Robotic Systems & I-Tech , Vienna, Austria , 2007 .
Contributions to Collections
22. D. Althoff, O. Kourakos, M. Lawitzky, A. Mörtl, M. Rambow, F. Rohrmüller, D. Brščić, D. Wollherr, S. Hirche, M. Buss , An Architecture for Real-time Control in Multi-robot Systems , Human Centered Robot Systems, (H. Ritter, G. Sagerer, R. Dillmann, M. Buss, ed.) , Cognitive Systems Monographs , Springer , 2009 , p. 43-52 .
Peer Reviewed Conference Papers
23. A. Lawitzky, D. Althoff, C. F. Passenberg, D. Wollherr, M. Buss , Interactive Scene Prediction for Automotive Applications , Proc. of the IEEE Intelligent Vehicles Symposium , 2013 , accepted.
24. C. Landsiedel, R. de Nijs, K. Kühnlenz, D. Wollherr, M. Buss , Route Description Interpretation on Automatically Labeled Robot Maps , IEEE International Conference on Robotics and Automation , 2013 .
25. D. Althoff, M. Werling, N. Kaempchen, D. Wollherr and M. Buss , Lane-based Safety Assessment of Road Scenes using Inevitable Collision States , Proc. of the IEEE Intelligent Vehicles Symposium , 2012 .
26. B. Gonsior, M. Buß, S. Sosnowski, D. Wollherr, K. Kühnlenz, M. Buss , Towards Transferability of Theories on Prosocial Behavior from Social Psychology to HRI , Proceedings of the IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO), Technische Universität München, Munich, Germany , 2012 , p. 101-103 .
27. D. Althoff, M. Buss, A. Lawitzky, M. Werling, D. Wollherr , On-line Trajectory Generation for Safe and Optimal Vehicle Motion Planning , Autonome Mobile Systeme , Springer , 2012 .
28. B. Gonsior, S. Sosnowski, M. Buß, D. Wollherr, K. Kühnlenz , An Emotional Adaption Approach to increase Helpfulness towards a Robot , Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 , p. 2429 - 2436 .
29. N. Mirnig, B. Gonsior, S. Sosnowski, C. Landsiedel, D. Wollherr, A. Weiss, M. Tscheligi , Feedback Guidelines for Multimodal Human-Robot Interaction: How Should a Robot Give Feedback When Asking for Directions? , Proceedings of the IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man) , 2012 , p. 533-538 .
30. A. Lawitzky, D. Wollherr, M. Buss , Maneuver-based Risk Assessment for High-Speed Automotive Scenarios , IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2012 .
31. D. Carton. A. Turnwald, D. Wollherr, M. Buss , Proactively Approaching Pedestrians with an Autonomous Mobile Robot in Urban Environments , 13th International Symposium on Experimental Robotics (ISER) , 2012 .
32. N. Mitsou, R. de Nijs, D. Lenz, J. Frimberger, D. Wollherr, K. Kühnlenz , Online Semantic Mapping of Urban Environments , 2012 .
33. S. Khan, D. Wollherr, M. Buss , PIRF3D: Online Spatial and Appearance based Loop Closure , IEEE International Conference on Control,Automation, Robotics and Vision , 2012 .
34. S. Khan, N. Mitsou, D. Wollherr, C. Tzafestas , An Optimization approach for 3D environment mapping using normal vector uncertainty, , IEEE International Conference on Control,Automation, Robotics and Vision , 2012 .
35. D. Carton, A. Turnwald, K. Kühnlenz, D. Wollherr, M. Buss , Proactive Human Approach in Dynamic Environments , International Conference on Intelligent Robots and Systems (IROS Video), pp.3320-3321 , 2012 .
36. D. Althoff, C. N. Brand, D. Wollherr, M. Buss , Computing Unions of Inevitable Collision States and Increasing Safety to Unexpected Obstacles , IEEE/RSJ International Conference on Intelligent Robots and Systems , 2011 .
37. B. Gonsior, S. Sosnowski, C. Mayer, J. Blume, B. Radig, D. Wollherr, K. Kühnlenz , Improving Aspects of Empathy and Subjective Performance for HRI through Mirroring Facial Expressions , IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man) , 2011 , p. 350 - 356 .
38. B. Gonsior, C. Landsiedel, A. Glaser, D. Wollherr, M. Buss , Dialog Strategies for Handling Miscommunication in Task-Related HRI , IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man) , 2011 , p. 369 - 375 .
39. M. Buss, D. Carton, B. Gonsior, K. Kuehnlenz, C. Landsiedel, N. Mitsou, R. de Nijs, J. Zlotowski, S. Sosnowski, E. Strasser, M. Tscheligi, A. Weiss, D. Wollherr , Towards Proactive Human-Robot Interaction in Human Environments , International Conference on Cognitive Infocommunications , 2011 .
40. M. Van den Bergh, D. Carton, R. De Nijs, N. Mitsou, C. Landsiedel, K. Kuehnlenz, D. Wollherr, L. Van Gool, M. Buss , Real-time 3D Hand Gesture Interaction with a Robot for Understanding Directions from Humans , Proceedings of 20th IEEE International Symposium on Robot and Human Interactive Communication , Atlanta Georgia , 2011 .
41. R. de Nijs, M. Julia, N. Mitsou, B. Gonsior, K. Kühnlenz , D. Wollherr, M. Buss , Following route graphs in urban environments , IEEE International Symposium on Robot and Human Interactive Communication , 2011 .
42. N. Mitsou, I. Ntoutsi, D. Wollherr, C. Tzafestas, H.-P. Kriegel , Revealing cluster formation over huge volatile robotic data , Workshop on Domain Driven Data Mining at IEEE International Conference on Data Mining , 2011 .
43. N. Mirnig, B. Gonsior, D. Wollherr, A. Weiss, M. Tscheligi , Feedback in Human-Robot Interaction: How to Display a Robot’s Internal System Status , Proceedings of the 3rd International Conference on Social Robotics (ICSR) , 2011 .
44. D. Althoff, D. Wollherr, M. Buss , Safety Assessment of Trajectories for Navigation in Uncertain and Dynamic Environments , IEEE International Conference on Robotics and Automation , 2011 .
45. A. Lawitzky, D. Althoff, D. Wollherr, M. Buss , Dynamic Window Approach for Omnidirectional Robots with Polygonal Shape , IEEE International Conference on Robotics and Automation (ICRA) , 2011 .
46. D. Althoff, M. Althoff, D. Wollherr, M. Buss , Probabilistic Collision State Checker for Crowded Environments , IEEE International Conference on Robotics and Automation , 2010 .
47. U. Mettin, A. S. Shiriaev, G. Bätz, D. Wollherr , Ball Dribbling with an Underactuated Continuous-Time Control Phase , Proc. IEEE International Conference on Robotics and Automation (ICRA) , 2010 , p. 4669-4674 .
48. A. Weiss, J. Igelsböck, M. Tscheligi, A. Bauer, K. Kühnlenz, D. Wollherr, M. Buss , Robots Asking for Directions: The Willingness of Passers-by to Support Robots , International Conference on Human-Robot Interaction , 2010 , p. 23-30 .
49. G. Bätz, A. Yaqub, H. Wu, K. Kühnlenz, D. Wollherr, M. Buss , Dynamic Manipulation: Nonprehensile Ball Catching , Proc. IEEE Mediterranean Conference on Control and Automation , 2010 , p. 365-370 .
50. M. Althoff, D. Althoff, D. Wollherr, M. Buss , Safety Verification of Autonomous Vehicles for Coordinated Evasive Maneuvers , Proc. of the IEEE Intelligent Vehicles Symposium , 2010 .
51. F. Rohrmüller, O. Kourakos, M. Rambow, D. Brščić, D. Wollherr, S. Hirche, M. Buss , Interconnected Performance Optimization in Complex Robotic Systems , Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2010 , p. 4113-4118 .
52. G. Bätz, U. Mettin, A. M. Schmidts, M. Scheint, D. Wollherr, A. Shiriaev , Ball Dribbling with an Underactuated Continuous-Time Control Phase: Theory & Experiments , Proc. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2010 , p. 2890-2895 , NTF Award Finalist .
53. B. Gonsior, D. Wollherr, M. Buss , Towards a Dialog Strategy for Handling Miscommunication in Human-Robot Dialog , IEEE International Symposium on Robot and Human Interactive Communication (Ro-Man) , 2010 , p. 284-289 .
54. G. Bätz, K.K. Lee, D. Wollherr, M. Buss , Robot Basketball: A Comparison of Ball Dribbling with Visual and Force/Torque Information , Proc. IEEE International Conference on Robotics and Automation (ICRA) , 2009 .
55. K. Klasing, D. Althoff, D. Wollherr, M. Buss , Comparison of Surface Normal Estimation Methods for Range Sensing Applications , Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA) , Kobe, Japan , 2009 .
56. K. Klasing, D. Wollherr, M. Buss , Realtime Segmentation of Range Data Using Continuous Nearest Neighbors , Proceedings of the 2009 IEEE International Conference on Robotics and Automation (ICRA) , Kobe, Japan , 2009 .
57. G. Lidoris, F. Rohrmüller, D. Wollherr, M. Buss , The Autonomous City Explorer (ACE) Project - Mobile Robot Navigation in Highly Populated Urban Environments , Proc. of the IEEE International Conference on Robotics and Automation (ICRA) , 2009 .
58. A. Bauer, D. Wollherr, M. Buss , Information Retrieval System for Human-Robot Communication – Asking for Directions , Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) , 2009 , p. 4150-4155 .
59. A. Bauer, B. Gonsior, D. Wollherr, M. Buss , Heuristic Rules for Human-Robot Interaction Based on Principles from Linguistics - Asking for Directions , AISB Convention - Symposium on New Frontiers in Human-Robot Interaction , 2009 , p. 24-30 , Best student poster award .
60. K. Klasing, D. Wollherr, M. Buss , Joint Dominance Coefficients: A Sensitivity-based Measure for Ranking Robotic Degrees of Freedom , Advances in Robotics Research , (T. Kröger and F.M. Wahl, ed.) , Springer Verlag , 2009 , p. 1-10 .
61. A. Bauer, K. Klasing, T. Xu, S. Sosnowski, G. Lidoris, Q. Mühlbauer, T. Zhang, F. Rohrmüller, K. Kühnlenz, D. Wollherr, M. Buss , The Autonomous City Explorer Project (Video) , Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) , 2009 , p. 1595-1596 .
62. F. Rohrmüller, G. Lidoris, D. Wollherr, M. Buss , System Interdependence Analysis For Autonomous Mobile Robots , Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2009 .
63. K.K. Lee, G. Bätz, D. Wollherr , Basketball Robot: Ball-on-Plate with Pure Haptics , Proc. IEEE International Conference on Robotics and Automation (ICRA) , 2008 , p. 2410-2415 .
64. K.K. Lee, A. Achhammer, S. Drexler, D. Wollherr , Basketball Robot: Ball-on-Plate System without Visual Information , Proceedings of the IFAC World Congress , Seoul, Korea, 2008 , 2008 , p. 14097 .
65. K. Klasing, D. Wollherr, M. Buss , A Clustering Method for Efficient Segmentation of 3D Laser Data , Proceedings of the 2008 IEEE International Conference on Robotics and Automation (ICRA) , Pasadena, CA, USA , 2008 .
66. A. Weiss, R. Bernhaupt, M. Tscheligi, D. Wollherr, K. Kühnlenz, M. Buss , A Methodological Variation for Acceptance Evaluation of Human-Robot Interaction in Public Places , Proceedings of the International Symposium on Robot and Human Interactive Communication (RO-MAN) , 2008 , p. 713-718 .
67. G. Lidoris, D. Wollherr, M. Buss , Bayesian State Estimation and Behavior Selection for Autonomous Robotic Exploration in Dynamic Environments , Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , September, 22-26, Nice, France , 2008 .
68. F. Rohrmüller, M. Althoff, D. Wollherr, M. Buss , Probabilistic Mapping of Dynamic Obstacles Using Markov Chains for Replanning in Dynamic Environments , Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , 2008 .
69. K. Klasing, G. Lidoris, A. Bauer, F. Rohrmüller, D. Wollherr, M. Buss , The Autonomous City Explorer: Towards Semantic Navigation in Urban Environments , Proceedings of the 1st International Workshop on Cognition for Technical Systems , Oct 6 - 7, Munich, Germany , 2008 .
70. G. Lidoris, K. Kühnlenz, D. Wollherr, M. Buss , Combined Trajectory Planning and Gaze Direction Control for Robotic Exploration , Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) , April 10-14, Rome, Italy , 2007 .
71. G. Lidoris, K. Klasing, A. Bauer, T. Xu, K. Kühnlenz, D. Wollherr, M. Buss , The Autonomous City Explorer Project: Aims and System Overview , Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , Oct 29 - Nov 2, San Diego, CA, USA , 2007 .
72. M. Beetz, M. Buss, D. Wollherr , Cognitive Technical Systems - What Is the Role of Artificial Intelligence? , Proceedings of the 30th German Conference on Artificial Intelligence (KI-2007) , 2007 .
73. M. Buss, M. Beetz, and D. Wollherr , CoTeSys - Cognition for Technical Systems , Proceedings of the 4th COE Workshop on Human Adaptive Mechatronics (HAM) , 2007 .
74. K. Klasing, D. Wollherr, M. Buss , Cell-based Probabilistic Roadmaps (CPRM) for Efficient Path Planning in Large Environments , Proceedings of the 2007 International Conference on Advanced Robotics (ICAR) , Jeju Island, Korea , 2007 .
75. G. Lidoris, K. Kühnlenz, D. Wollherr, M. Buss , Information-Based Gaze Direction Planning Algorithm for SLAM , Proceedings of the IEEE-RAS International Conference on Humanoid Robots (HUMANOIDS) , Genova, Italy , 2006 .
76. D. Wollherr, F. Zonfrilli, and Y. Nakamura , Active-Passive Knee Control for the Humanoid UT-Theta , Proceedings of the International Conference on Advanced Robotics , Seattle, Washington, USA , 2005 , p. 692-697 .
77. F. Zonfrill, D. Wollherr, and Y. Nakamura , Walking Control of the Humanoid UT-Theta , Proceedings of the International Conference on Advanced Robotics (ICAR) , Seattle, Washington, USA , 2005 , p. 698-704 .
78. D. Wollherr and M. Buss , Posture Modification for Biped Humanoid Robots Based on Jacobian Method , Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , Sendai, Japan , 2004 , p. 124-129 .
79. M. Buss, M. Hardt, J. Kiener, M. Sobotka, M. Stelzer, O. von Stryk, D. Wollherr , Towards an Autonomous, Humanoid amd Dynamically Walking Robot: Modeling, Optimal Trajectory Planning, Hardware Architecture, and Experiments , Proceedings of the IEEE/RAS International Conference on Humanoid Robots (HUMANOIDS) , Munich, Karlsruhe, Germany , 2003 .
80. M. Sobotka, D. Wollherr, M. Buss , A Jacobian Method for Online Modification of Precalculated Gait Trajectories , Proceedings of the International Conference on Climbing and Walking Robots (CLAWAR) , Catania, Italy , 2003 .
81. D. Wollherr, M. Buss, M. Hardt, and O. von Stryk , Research and Development Towards an Autonomous Biped Walking Robot , Proceedings of the IEEE/ASME International Conference on Advanced Intelligent Mechatronics AIM2003 , Kobe, Japan , 2003 , p. 968-973 .
82. D. Wollherr, M. Hardt, M. Buss, and O. von Stryk , Development and Control of Autonomous, Biped Locomotion Using Efficient Modeling, Simulation, and Optimization Techniques , Proceedings of the IEEE International Conferenceon Robotics and Automation (ICRA) , Taipei, Taiwan , 2003 , p. 1356-1361 .
83. M. Hardt, D. Wollherr, M. Buss, and O. von Stryk , Design of an Autonomous Fast-Walking Humanoid Robot , Proceedings of the 5th International Conference on Climbing and Walking Robots , Paris, France , 2002 , p. 391-398 .
84. D. Wollherr, M. Hardt, M. Buss, and O. von Stryk , Actuator Selection and Hardware Realization of a Small and Fast-Moving, Autonomous Humanoid Robot , Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , Lausanne, Switzerland , 2002 , p. 2491-2496 .
85. D. Wollherr, J. Mareczek, M. Buss, and G. Schmidt , Rollover Avoidance for Steerable Vehicles by Invariance Control , Proceedings of the European Control Conference , Porto, Portugal , 2001 , p. 3522-3527 .
86. D. Wollherr and M. Buss , Cost Oriented VR-Simulation Environment for Computer Aided Control Design , Proceedings of the 6th IFAC Symposium on Cost Oriented Automation , Berlin, Germany , 2001 , p. 59-64 .
Technical Reports
87. D. Brščić, M. Eggers, F. Rohrmüller, O. Kourakos, S. Sosnowski, D. Althoff, M. Lawitzky, A. Mörtl, M. Rambow, V. Koropouli, J.R. Medina Hernández, X. Zang, W. Wang, D. Wollherr, K. Kühnlenz, C. Mayer, T. Kruse, A. Kirsch, J. Blume, A. Bannat, T. Rehrl, F. Wallhoff, T. Lorenz, P. Basili, C. Lenz, T. Röder, G. Panin, W. Maier, S. Hirche, M. Buss, M. Beetz, B. Radig, A. Schubö, S. Glasauer, A. Knoll, E. Steinbach , Multi Joint Action in CoTeSys - setup and challenges , Technische Universität München & Ludwig-Maximilians-Universität München , Munich, Germany , 2010 .

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