Staff
Dr.-Ing. Marion Leibold (Sobotka)
Contact Information
E-mail: 
Phone: +49-89-289-23402
Room: N2502
 
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
Journal Articles
1. K. Mombaur, M. Scheint, M. Sobotka , Optimal Control and Design of Bipedal Robots with Compliance , at - Automatisierungstechnik , 57 (2009) , no. 7 , 349-359 .
2. M. Sobotka, M. Buss , Hybrid Modeling and Control of a Monoped Robot with Variable Foot Contact , Transactions of the Society of Instruments and Control Engineers , 44 (2005) , no. 7 , 477--485 .
3. J.M.P. Franosch, M. Sobotka, A. Elepfandt, J.L. van Hemmen , Minimal Model of Prey Localization through the Lateral-Line System , Physical Review Letters , 91 (2003) , 1581011--1581014 .
Bookchapters
4. G. Bätz, M. Sobotka, D. Wollherr, M. Buss , Robot Basketball: Ball Dribbling - A Modified Juggling Task , Springer (Berlin / Heidelberg) , 2009 .
Peer Reviewed Conference Papers
5. H. Mangesius, M. Sobotka, O. Stursberg , Consensus Based Decoupling in Hybrid Optimization of Cooperative Transportation Planning , 18th IFAC World Congress , 2011 , accepted.
6. B. Passenberg, M. Kröninger, G. Schnattinger, M. Leibold (Sobotka), O. Stursberg, M. Buss , Initialization Concepts for Optimal Control of Hybrid Systems , 18th IFAC World Congress , 2011 , p. 10274-10280 .
7. S. Albrecht, K. Ramirez-Amaro, F. Ruiz-Ugalde, D. Weikersdorfer, M. Leibold (Sobotka), M. Ulbrich, M. Beetz , Imitating human reaching motions using physically inspired principles , 11th IEEE-RAS International Conference on Humanoid Robots , 2011 .
8. B. Passenberg, M. Leibold (Sobotka), O. Stursberg, and M. Buss , The Minimum Principle for Time-Varying Hybrid Systems with State Switching and Jumps , 50th IEEE Conference on Decision and Control and European Control Conference , 2011 , accepted.
9. M. Steinegger, B. Passenberg, M. Leibold (Sobotka), and M. Buss , 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 , accepted.
10. S. Albrecht, C. Passenberg, M. Sobotka, A. Peer, M. Buss, M. Ulbrich , Optimization Criteria for Human Trajectory Formation in Dynamic Virtual Environments , Eurohaptics , 2010 .
11. H. Mangesius, M. Sobotka, O. Stursberg , Solution of a Multi-Agent Transport Problem by Hybrid Optimization , 10th International Workshop on Discrete Event Systems , 2010 .
12. M. Scheint, M. Sobotka, M. Buss , 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) , Tokyo, Japan , 2010 , accepted .
13. B. Passenberg, P.E. Caines, M. Sobotka, O. Stursberg, M. Buss , The Minimum Principle for Hybrid Systems with Partitioned State Space and Unspecified Discrete State Sequence , 49th IEEE Conference on Decision and Control , 2010 , p. 6666-6673 .
14. B. Passenberg, M. Sobotka, O. Stursberg, M. Buss, P.E. Caines , An Algorithm for Discrete State Sequence and Trajectory Optimization for Hybrid Systems with Partitioned State Space , 49th IEEE Conference on Decision and Control , 2010 , p. 4223-4229 .
15. S. Kraus, S. Albrecht, M. Sobotka, B. Heißing, M. Ulbrich , Optimisation-based Identification of Situation Determined Cost Functions for the Implementation of a Human-like Driving Style in an Autonomous Car , Proc. 10th Int. Symp. on Advanced Vehicle Control (AVEC) , 2010 .
16. T. Schauß, M. Scheint, M. Sobotka, W. Seiberl, and M. Buss , Effects of Compliant Ankles on Bipedal Locomotion , Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), Kobe, Japan , 2009 , p. 2761-2766 .
17. M. Scheint, M. Sobotka, M. Buss , Virtual holonomic constraint approach for planar bipedal walking robots extended to double support , Proceedings of the IEEE International Conference on Decision and Control (CDC) , Shanghai, China , 2009 , p. 8180-8185 .
18. F. Adamek, M. Sobotka, O. Stursberg , Stochastic Optimal Control for Hybrid Systems with Uncertain Discrete Dynamics , IEEE Conference on Automation Science and Engineering , Washington D.C. , 2008 .
19. M. Scheint, M. Sobotka, M. Buss , Compliance in Gait Synthesis: Effects on Energy and Gait , Proceedings of the IEEE International Conference on Humanoid Robots , Daejeon, Korea , 2008 , p. 259-264 .
20. M. Sobotka, J. Wolff, M. Buss , Invariance Controlled Balance of Legged Robots , Proceedings of the European Control Conference (ECC) , Kos, Greece , 2007 .
21. M. Sobotka, M. Buss , Locomotion Studies for a 5DoF Gymnastic Robot , Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , Edmonton, Canada , 2005 .
22. M. Sobotka, M. Buss , A Hybrid Mechatronic Tilting Robot: Modeling, Trajectories, and Control , Proceedings of the 16th IFAC World Congress} , Prague, Czech Republic , 2005 .
23. M. Sobotka, M. Buss , Preliminary Studies on the Control of Tilting Mechatronic Systems , Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) , Sendai, Japan , 2004 .
24. M. Sobotka, M. Buss , Hybrid Trajectory Planning for a Mechatronic Tilting System , Proceedings of the IEEE Conference on Control Applications (CCA) , Taipei, Taiwan , 2004 .
25. 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 .
26. 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 .
PhD thesis
27. M. Sobotka , Hybrid Dynamical System Methods for Legged Robot Locomotion with Variable Ground Contact , Dissertation, Institute of Automatic Control Engineering, Technische Universität München , 2007 .

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