Institute of Automatic Control Engineering (LSR): Dipl.-Ing.

Staff

Contact Information

E-mail:

Phone: +49 89 289 25776

Room: CCRL 536a

Office hours: on appointment

Location: CoTeSys Central Robotics Laboratory, 4th floor Coordinates: N48°08'45.93", E11°34'11.09", 546m AMSL

Short Biography

Martin Lawitzky (*1983) is currently research assistant and PhD student (since August 2008) at the Institute of Automatic Control Engineering, Faculty of Electrical Engineering and Information Technology, Technische Universität München, Munich, Germany.

He received the diploma engineer degree (Dipl.-Ing.) in Electrical Engineering in 2008 from the Technische Universität München, Munich, Germany. Martin's diploma thesis project was carried out at NICTA Ltd., Sydney, Australia in the field of embedded and real-time operating-systems research.

He received the bachelor of science degree (B.Sc.) in Electrical Engineering in 2007 from the Technische Universität München, Munich, Germany. Martin's bachelor's thesis was performed at the Institute for Real-Time Computer Systems, Technische Universität München, Munich, Germany within the Transregional Collaborative Research Center 28 – Cognitive Automobiles.

Research Interests

Physical Multi-robot and human-robot interaction

system theoretic modelling of cooperation and collaboration
planning of cooperative haptic tasks
cooperative manipulation, haptic information exchange
modelling perception during cooperation
dynamic cooperative load sharing

Working Fields

CoTeSys - Multi-robot laboratory (MuRoLa)

OPEN THESIS PROJECTS

Graduate students (6th+ semester) interested in intelligent, cognitive or cooperative robots are invited to contact me regarding thesis opportunities. This is a selection of available DA/MA topics and the required enthusiasm:
- Derivation of LQ-Optimal Motion Primitives for Collaborative Tasks
  (Optimal Control Theory)
- Optimality Principles for Cooperative Sensori-Motor Control
  (System Identification, Cognitive Sciences and Optimization)
Students of Mathematics in Science end Engineering or related studies are also cordially invited to contact me regarding thesis and student assistant opportunities. Please see the linked publications to get an insight:
- Modelling the Path of Least Resistance
  (Control Theory)

FINISHED THESIS PROJECTS

Autonomous Robot Manipulation in Uncertain Human Environments Using Purely Haptic Feedback
Dynamic Model of a Robot Manipulator with Harmonic-Drive Gears
Design and Implementation of an Experimental Testbed for Planning in Haptic Human-Robot Cooperation
Invariance Control for Mobile Physical Human-Robot Interaction
Interaction Partner Awareness in Manipulator Collision Avoidance
Feedback Motion Planning for Physical Human-Robot Cooperation

Publications

	Journal Articles

1.	A. Mörtl, M. Lawitzky, A. Kucukyilmaz, M. Sezgin, C. Basdogan, S. Hirche , The Role of Roles: Physical Cooperation between Humans and Robots , International Journal of Robotics Research , (2012) , accepted.


2.	A. Kirsch, T. Kruse, E. A. Sisbot, R. Alami, M. Lawitzky, D. Brscic, S. Hirche, P. Basili, S. Glasauer , Plan-based Control of Joint Human-Robot Activities , Künstl. Intell. , 24 (2010) , 223-231 .

	Contributions to Collections

3.	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

4.	J.R. Medina Hernández, M. Lawitzky, A. Mörtl, Dongheui Lee, and 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 , p. 2416-2422 .


5.	E. Lutscher, M. Lawitzky, G. Cheng, S. Hirche , A Control Strategy for Operating Unknown Constrained Mechanisms , Proceedings of the IEEE International Conference on Robotics and Automation (ICRA) , Anchorage, Alaska, USA , 2010 .


6.	M. Lawitzky, A. Mörtl, S. Hirche , Load Sharing in Human-Robot Cooperative Manipulation , 19th IEEE International Symposium on Robot and Human Interactive Communication (RoMan) , 2010 .


7.	S. Petters, M. Lawitzky, R. Heffernan, K. Elphinstone , Towards Real Multi-Criticality Scheduling , Proceedings of the 15th IEEE International Conference on Embedded and Real-Time Computing Systems and Applications (RTCSA) , 2009 .


8.	M. Lawitzky, D. Snowdon, S. Petters , Integrating real time and power management in a real system , Proceedings of the 4th Workshop on Operating System Platforms for Embedded Real-Time Applications (OSPERT) , 2008 .


	Technical Reports

9.	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 .

	Poster

10.	M. Lawitzky, A. Mörtl, J.R. Medina Hernández, Dongheui Lee, S. Hirche , Enhancing Physical Human-Robot Cooperation Through Behavior Anticipation and Interactive Planning , 2012 .

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