Tamim Asfour
205 publications
9 venues
H Index 43
Affiliation
Karlsruhe Institute of Technology, GermanyLinks
| Name | Venue | Year | citations |
|---|---|---|---|
Speeding Up Assembly Sequence Planning Through Learning Removability Probabilities.
|
ICRA | 2023 | 0 |
| Grasping with Humanoid Hands based on In-Hand Vision and Hardware-accelerated CNNs.
|
Humanoids | 2023 | 0 |
| Recognition of Bimanual Manipulation Categories in RGB-D Human Demonstration.
|
Humanoids | 2023 | 0 |
| On the Actuator Requirements for Human-Like Execution of Retargeted Human Motion on Humanoid Robots.
|
Humanoids | 2023 | 0 |
| Upper Bounds for Localization Errors in 2D Human Pose Estimation.
|
IROS | 2023 | 0 |
| On the Design of Region-Avoiding Metrics for Collision-Safe Motion Generation on Riemannian Manifolds.
|
IROS | 2023 | 0 |
| An Evaluation of Action Segmentation Algorithms on Bimanual Manipulation Datasets.
|
IROS | 2023 | 0 |
| Combining Measurement Uncertainties with the Probabilistic Robustness for Safety Evaluation of Robot Systems.
|
IROS | 2023 | 0 |
| Selected papers from ISRR'2019.
|
IJRR | 2023 | 0 |
| A memory system of a robot cognitive architecture and its implementation in ArmarX.
|
Robotics and Autonomous Systems | 2023 | 0 |
| Improving Humanoid Grasp Success Rate based on Uncertainty-aware Metrics and Sensitivity Optimization.
|
Humanoids | 2022 | 0 |
| Semi-autonomous control of prosthetic hands based on multimodal sensing, human grasp demonstration and user intention.
|
Robotics and Autonomous Systems | 2022 | 2 |
| A Compact, Lightweight and Singularity-Free Wrist Joint Mechanism for Humanoid Robots.
|
IROS | 2022 | 0 |
| A Bimanual Manipulation Taxonomy.
|
IEEE Robotics and Automation Letters | 2022 | 2 |
| Learning to Sequence and Blend Robot Skills via Differentiable Optimization.
|
IEEE Robotics and Automation Letters | 2022 | 1 |
| A Riemannian Take on Human Motion Analysis and Retargeting.
|
IROS | 2022 | 1 |
| Combining Navigation and Manipulation Costs for Time-Efficient Robot Placement in Mobile Manipulation Tasks.
|
IEEE Robotics and Automation Letters | 2022 | 0 |
| Oriented Surface Reachability Maps for Robot Placement.
|
ICRA | 2022 | 2 |
| Probabilistic Spatio-Temporal Fusion of Affordances for Grasping and Manipulation.
|
IEEE Robotics and Automation Letters | 2022 | 3 |
| SpeedFolding: Learning Efficient Bimanual Folding of Garments.
|
IROS | 2022 | 5 |
| Learning Symbolic Failure Detection for Grasping and Mobile Manipulation Tasks.
|
IROS | 2022 | 1 |
| Embedded Barometric Pressure Sensor Unit for Force Myography in Exoskeletons.
|
Humanoids | 2022 | 0 |
| Learning Temporal Task Models from Human Bimanual Demonstrations.
|
IROS | 2022 | 0 |
| Riemannian Geometry as a Unifying Theory for Robot Motion Learning and Control.
|
ISRR | 2022 | 0 |
| Deep Episodic Memory for Verbalization of Robot Experience.
|
IEEE Robotics and Automation Letters | 2021 | 5 |
| Fast Reactive Grasping with In-Finger Vision and In-Hand FPGA-accelerated CNNs.
|
IROS | 2021 | 5 |
| Vision-Based Robotic Pushing and Grasping for Stone Sample Collection under Computing Resource Constraints.
|
ICRA | 2021 | 8 |
| Graph-based Task-specific Prediction Models for Interactions between Deformable and Rigid Objects.
|
IROS | 2021 | 5 |
| Binary-LoRAX: Low-Latency Runtime Adaptable XNOR Classifier for Semi-Autonomous Grasping with Prosthetic Hands.
|
ICRA | 2021 | 2 |
| The KIT Gripper: A Multi-Functional Gripper for Disassembly Tasks.
|
ICRA | 2021 | 2 |
| Geometry-aware Bayesian Optimization in Robotics using Riemannian Matérn Kernels.
|
CoRL | 2021 | 15 |
| Detecting Grasp Phases and Adaption of Object-Hand Interaction Forces of a Soft Humanoid Hand Based on Tactile Feedback.
|
IROS | 2021 | 3 |
| Temporal Force Synergies in Human Grasping.
|
IROS | 2021 | 0 |
| Uncertainty-Aware Contact-Safe Model-Based Reinforcement Learning.
|
IEEE Robotics and Automation Letters | 2021 | 0 |
| Representing Spatial Object Relations as Parametric Polar Distribution for Scene Manipulation Based on Verbal Commands.
|
IROS | 2020 | 3 |
| Affordance-Based Grasping and Manipulation in Real World Applications.
|
IROS | 2020 | 12 |
| Predicting Pushing Action Effects on Spatial Object Relations by Learning Internal Prediction Models.
|
ICRA | 2020 | 11 |
| A Soft Humanoid Hand with In-Finger Visual Perception.
|
IROS | 2020 | 8 |
| I-Support: A robotic platform of an assistive bathing robot for the elderly population.
|
Robotics and Autonomous Systems | 2020 | 22 |
| Learning Object-Action Relations from Bimanual Human Demonstration Using Graph Networks.
|
IEEE Robotics and Automation Letters | 2020 | 0 |
| Learning Via-Point Movement Primitives with Inter- and Extrapolation Capabilities.
|
IROS | 2019 | 20 |
| Predicting Grasp Success with a Soft Sensing Skin and Shape-Memory Actuated Gripper.
|
IROS | 2019 | 17 |
| Exoskeleton Arm Pronation/Supination Assistance Mechanism With A Guided Double Rod System.
|
Humanoids | 2019 | 6 |
| Minimal Sensor Setup in Lower Limb Exoskeletons for Motion Classification based on Multi-Modal Sensor Data.
|
IROS | 2019 | 3 |
| On Force Synergies in Human Grasping Behavior.
|
Humanoids | 2019 | 7 |
| Resource-Aware Object Classification and Segmentation for Semi-Autonomous Grasping with Prosthetic Hands.
|
Humanoids | 2019 | 9 |
| The Anthropomorphic Hand Assessment Protocol (AHAP).
|
Robotics and Autonomous Systems | 2019 | 13 |
| Feature Space Exploration for Motion Classification Based on Multi-Modal Sensor Data for Lower Limb Exoskeletons.
|
Humanoids | 2019 | 2 |
| Visuo-Haptic Grasping of Unknown Objects based on Gaussian Process Implicit Surfaces and Deep Learning.
|
Humanoids | 2019 | 14 |
| Active Vision for Extraction of Physically Plausible Support Relations.
|
Humanoids | 2019 | 6 |
| Learning and Adaptation of Inverse Dynamics Models: A Comparison.
|
Humanoids | 2019 | 10 |
| Human Motion Classification Based on Multi-Modal Sensor Data for Lower Limb Exoskeletons.
|
IROS | 2018 | 16 |
| Grasping of Unknown Objects Using Deep Convolutional Neural Networks Based on Depth Images.
|
ICRA | 2018 | 55 |
| Exploration and Reconstruction of Unknown Objects using a Novel Normal and Contact Sensor.
|
IROS | 2018 | 7 |
| A Multimodal Embedded Sensor System for Scalable Robotic and Prosthetic Fingers.
|
Humanoids | 2018 | 3 |
| Vision-Based Online Adaptation of Motion Primitives to Dynamic Surfaces: Application to an Interactive Robotic Wiping Task.
|
IEEE Robotics and Automation Letters | 2018 | 20 |
| Projected Force-Admittance Control for Compliant Bimanual Tasks.
|
Humanoids | 2018 | 5 |
| Generation of Walking Motions Based on Whole-Body Poses and QP Control.
|
Humanoids | 2018 | 1 |
| Integrating multi-purpose natural language understanding, robot's memory, and symbolic planning for task execution in humanoid robots.
|
Robotics and Autonomous Systems | 2018 | 15 |
| Learning Efficient Omni-Directional Capture Stepping for Humanoid Robots from Human Motion and Simulation Data.
|
Humanoids | 2018 | 1 |
| An Ontology-Based Expert System to Support the Design of Humanoid Robot Components.
|
Humanoids | 2018 | 1 |
| Deep Episodic Memory: Encoding, Recalling, and Predicting Episodic Experiences for Robot Action Execution.
|
IEEE Robotics and Automation Letters | 2018 | 24 |
| The KIT Swiss Knife Gripper for Disassembly Tasks: A Multi-Functional Gripper for Bimanual Manipulation with a Single Arm.
|
IROS | 2018 | 3 |
| Temporal Concurrent Planning with Stressed Actions.
|
Humanoids | 2018 | 0 |
| Autonomous Detection and Experimental Validation of Affordances.
|
IEEE Robotics and Automation Letters | 2018 | 7 |
| Coupling Mobile Base and End-Effector Motion in Task Space.
|
IROS | 2018 | 11 |
| The KIT Prosthetic Hand: Design and Control.
|
IROS | 2018 | 36 |
| Synergy-Based, Data-Driven Generation of Object-Specific Grasps for Anthropomorphic Hands.
|
Humanoids | 2018 | 6 |
| ARMAR-6: A Collaborative Humanoid Robot for Industrial Environments.
|
Humanoids | 2018 | 32 |
| Distance-Aware Dynamically Weighted Roadmaps for Motion Planning in Unknown Environments.
|
IEEE Robotics and Automation Letters | 2018 | 4 |
| Linear Contact Modeling and Stochastic Parameter Optimization for LQR-Based Whole-Body Push Recovery.
|
Humanoids | 2018 | 1 |
| Model-Based Reinforcement Learning via Meta-Policy Optimization.
|
CoRL | 2018 | 165 |
| Affordance-Based Multi-Contact Whole-Body Pose Sequence Planning for Humanoid Robots in Unknown Environments.
|
ICRA | 2018 | 7 |
| Extraction of Physically Plausible Support Relations to Predict and Validate Manipulation Action Effects.
|
IEEE Robotics and Automation Letters | 2018 | 19 |
| Planning High-Quality Grasps Using Mean Curvature Object Skeletons.
|
IEEE Robotics and Automation Letters | 2018 | 0 |
| Learning a bidirectional mapping between human whole-body motion and natural language using deep recurrent neural networks.
|
Robotics and Autonomous Systems | 2018 | 0 |
| Online stability estimation based on inertial sensor data for human and humanoid fall prevention.
|
Humanoids | 2017 | 6 |
| Autonomous narration of humanoid robot kitchen task experience.
|
Humanoids | 2017 | 9 |
| Task-oriented generalization of dynamic movement primitive.
|
IROS | 2017 | 15 |
| A framework for evaluating motion segmentation algorithms.
|
Humanoids | 2017 | 4 |
| Graph-based visual semantic perception for humanoid robots.
|
Humanoids | 2017 | 4 |
| Autonomous view selection and gaze stabilization for humanoid robots.
|
IROS | 2017 | 6 |
| Multimodal gaze stabilization of a humanoid robot based on reafferences.
|
Humanoids | 2017 | 1 |
| Unsupervised Linking of Visual Features to Textual Descriptions in Long Manipulation Activities.
|
IEEE Robotics and Automation Letters | 2017 | 10 |
| A combined approach for robot placement and coverage path planning for mobile manipulation.
|
IROS | 2017 | 11 |
| Enriched manipulation action semantics for robot execution of time constrained tasks.
|
Humanoids | 2016 | 12 |
| An affordance-based pilot interface for high-level control of humanoid robots in supervised autonomy.
|
Humanoids | 2016 | 21 |
| Adaptation and coaching of periodic motion primitives through physical and visual interaction.
|
Robotics and Autonomous Systems | 2016 | 47 |
| Towards a hierarchy of loco-manipulation affordances.
|
IROS | 2016 | 18 |
| Resource-aware motion planning.
|
ICRA | 2016 | 4 |
| Collaboration of heterogeneous agents in time constrained tasks.
|
Humanoids | 2016 | 11 |
| Part-based grasp planning for familiar objects.
|
Humanoids | 2016 | 43 |
| Local implicit surface estimation for haptic exploration.
|
Humanoids | 2016 | 21 |
| Two ways of walking: Contrasting a reflexive neuro-controller and a LIP-based ZMP-controller on the humanoid robot ARMAR-4.
|
Humanoids | 2016 | 5 |
| Design of a high-performance humanoid dual arm system with inner shoulder joints.
|
Humanoids | 2016 | 23 |
| Using language models to generate whole-body multi-contact motions.
|
IROS | 2016 | 9 |
| Learning and force adaptation for interactive actions.
|
Humanoids | 2016 | 7 |
| Workspace analysis for planning human-robot interaction tasks.
|
Humanoids | 2016 | 25 |
| Heuristic 3D object shape completion based on symmetry and scene context.
|
IROS | 2016 | 28 |
| Is hugging a robot weird? Investigating the influence of robot appearance on users' perception of hugging.
|
Humanoids | 2016 | 9 |
| The sense of surface orientation - A new sensor modality for humanoid robots.
|
Humanoids | 2016 | 0 |
| Coordinate Change Dynamic Movement Primitives - A leader-follower approach.
|
IROS | 2016 | 0 |
| A jumping robot using soft pneumatic actuator.
|
ICRA | 2015 | 14 |
| Validation of whole-body loco-manipulation affordances for pushability and liftability.
|
Humanoids | 2015 | 22 |
| Multi-purpose natural language understanding linked to sensorimotor experience in humanoid robots.
|
Humanoids | 2015 | 14 |
| Kinodynamic randomized rearrangement planning via dynamic transitions between statically stable states.
|
ICRA | 2015 | 58 |
| Analyzing whole-body pose transitions in multi-contact motions.
|
Humanoids | 2015 | 24 |
| A whole-body pose taxonomy for loco-manipulation tasks.
|
IROS | 2015 | 21 |
| IK-Map: An enhanced workspace representation to support inverse kinematics solvers.
|
Humanoids | 2015 | 11 |
| Nonprehensile whole arm rearrangement planning on physics manifolds.
|
ICRA | 2015 | 68 |
| On the Dualities Between Grasping and Whole-Body Loco-Manipulation Tasks.
|
ISRR | 2015 | 5 |
| Representing the robot's workspace through constrained manipulability analysis.
|
Autonomous Robots | 2015 | 0 |
| Extracting common sense knowledge from text for robot planning.
|
ICRA | 2014 | 22 |
| Robust real-time 6D active visual localization for humanoid robots.
|
ICRA | 2014 | 9 |
| Changing pre-grasp strategies with increasing object location uncertainty.
|
IROS | 2014 | 0 |
| Physical interaction for segmentation of unknown textured and non-textured rigid objects.
|
ICRA | 2014 | 32 |
| Extracting whole-body affordances from multimodal exploration.
|
Humanoids | 2014 | 23 |
| Learn to wipe: A case study of structural bootstrapping from sensorimotor experience.
|
ICRA | 2014 | 35 |
| Multi-sensor and prediction fusion for contact detection and localization.
|
Humanoids | 2014 | 12 |
| Visual collision detection for corrective movements during grasping on a humanoid robot.
|
Humanoids | 2014 | 4 |
| Learning of grasp selection based on shape-templates.
|
Autonomous Robots | 2014 | 116 |
| Master Motor Map (MMM) - Framework and toolkit for capturing, representing, and reproducing human motion on humanoid robots.
|
Humanoids | 2014 | 0 |
| Grounded spatial symbols for task planning based on experience.
|
Humanoids | 2013 | 13 |
| ARMAR-4: A 63 DOF torque controlled humanoid robot.
|
Humanoids | 2013 | 67 |
| Towards online trajectory generation considering robot dynamics and torque limits.
|
IROS | 2013 | 13 |
| Optimal high-dynamic-range image acquisition for humanoid robots.
|
IROS | 2013 | 0 |
| Synthesizing compliant reaching movements by searching a database of example trajectories.
|
Humanoids | 2013 | 9 |
| Robot placement based on reachability inversion.
|
ICRA | 2013 | 101 |
| Gaze selection during manipulation tasks.
|
ICRA | 2013 | 8 |
| Modulation of motor primitives using force feedback: Interaction with the environment and bimanual tasks.
|
IROS | 2013 | 15 |
| Development of a five-finger dexterous hand without feedback control: The TUAT/Karlsruhe humanoid hand.
|
IROS | 2013 | 28 |
| Synthesizing object receiving motions of humanoid robots with human motion database.
|
ICRA | 2013 | 37 |
| Learning robot dynamics with Kinematic Bézier Maps.
|
IROS | 2012 | 5 |
| Discovery, segmentation and reactive grasping of unknown objects.
|
Humanoids | 2012 | 16 |
| Retrieving contact points without environment knowledge.
|
Humanoids | 2012 | 3 |
| Constellation - An algorithm for finding robot configurations that satisfy multiple constraints.
|
ICRA | 2012 | 7 |
| Template-based learning of grasp selection.
|
ICRA | 2012 | 95 |
| Encoding of periodic and their transient motions by a single dynamic movement primitive.
|
Humanoids | 2012 | 42 |
| Templates for pre-grasp sliding interactions.
|
Robotics and Autonomous Systems | 2012 | 19 |
| A skeleton-based approach to grasp known objects with a humanoid robot.
|
Humanoids | 2012 | 8 |
| Ground-truth uncertainty model of visual depth perception for humanoid robots.
|
Humanoids | 2012 | 1 |
| Manipulability analysis.
|
Humanoids | 2012 | 95 |
| Human-inspired selection of grasp hypotheses for execution on a humanoid robot.
|
Humanoids | 2011 | 5 |
| Bimanual grasp planning.
|
Humanoids | 2011 | 33 |
| Object-Action Complexes: Grounded abstractions of sensory-motor processes.
|
Robotics and Autonomous Systems | 2011 | 168 |
| 6-DoF model-based tracking of arbitrarily shaped 3D objects.
|
ICRA | 2011 | 56 |
| Towards shape-based visual object categorization for humanoid robots.
|
ICRA | 2011 | 22 |
| The OpenGRASP benchmarking suite: An environment for the comparative analysis of grasping and dexterous manipulation.
|
IROS | 2011 | 49 |
| Towards a unifying grasp representation for imitation learning on humanoid robots.
|
ICRA | 2011 | 15 |
| Segmentation and learning of unknown objects through physical interaction.
|
Humanoids | 2011 | 31 |
| Planning grasps for robotic hands using a novel object representation based on the medial axis transform.
|
IROS | 2011 | 55 |
| RDT
|
ICRA | 2011 | 0 |
| A strategy for grasping unknown objects based on co-planarity and colour information.
|
Robotics and Autonomous Systems | 2010 | 107 |
| On-line periodic movement and force-profile learning for adaptation to new surfaces.
|
Humanoids | 2010 | 47 |
| Autonomous acquisition of visual multi-view object representations for object recognition on a humanoid robot.
|
ICRA | 2010 | 55 |
| Planning multi-robot grasping motions.
|
Humanoids | 2010 | 13 |
| Eccentricity edge-graphs from HDR images for object recognition by humanoid robots.
|
Humanoids | 2010 | 7 |
| Integrated Grasp and motion planning.
|
ICRA | 2010 | 70 |
| Representation of pre-grasp strategies for object manipulation.
|
Humanoids | 2010 | 31 |
| Towards social integration of humanoid robots by conversational concept learning.
|
Humanoids | 2010 | 3 |
| Unions of balls for shape approximation in robot grasping.
|
IROS | 2010 | 52 |
| Planning and execution of grasping motions on a humanoid robot.
|
Humanoids | 2009 | 14 |
| Autonomous acquisition of pushing actions to support object grasping with a humanoid robot.
|
Humanoids | 2009 | 53 |
| Force position control for a pneumatic anthropomorphic hand.
|
Humanoids | 2009 | 25 |
| Grasp recognition and mapping on humanoid robots.
|
Humanoids | 2009 | 23 |
| Active multi-view object search on a humanoid head.
|
ICRA | 2009 | 22 |
| Learning and generalization of motor skills by learning from demonstration.
|
ICRA | 2009 | 708 |
| Visual servoing for dual arm motions on a humanoid robot.
|
Humanoids | 2009 | 39 |
| Accurate shape-based 6-DoF pose estimation of single-colored objects.
|
IROS | 2009 | 25 |
| Humanoid motion planning for dual-arm manipulation and re-grasping tasks.
|
IROS | 2009 | 188 |
| From Sensorimotor Primitives to Manipulation and Imitation Strategies in Humanoid Robots.
|
ISRR | 2009 | 4 |
| Combining Harris interest points and the SIFT descriptor for fast scale-invariant object recognition.
|
IROS | 2009 | 135 |
| Rapid learning of humanoid body schemas with Kinematic Bézier Maps.
|
Humanoids | 2009 | 27 |
| Bayesian visual feature integration with saccadic eye movements.
|
Humanoids | 2009 | 7 |
| Combining force and visual feedback for physical interaction tasks in humanoid robots.
|
Humanoids | 2009 | 23 |
| Object separation using active methods and multi-view representations.
|
ICRA | 2008 | 11 |
| Toward humanoid manipulation in human-centred environments.
|
Robotics and Autonomous Systems | 2008 | 132 |
| Compliant interaction in household environments by the Armar-III humanoid robot.
|
Humanoids | 2008 | 30 |
| Robust real-time stereo-based markerless human motion capture.
|
Humanoids | 2008 | 35 |
| Imitation of human motion on a humanoid robot using non-linear optimization.
|
Humanoids | 2008 | 85 |
| A new anthropomorphic robotic hand.
|
Humanoids | 2008 | 94 |
| Visual servoing for humanoid grasping and manipulation tasks.
|
Humanoids | 2008 | 94 |
| A potential field approach to dexterous tactile exploration of unknown objects.
|
Humanoids | 2008 | 57 |
| The Karlsruhe Humanoid Head.
|
Humanoids | 2008 | 114 |
| Adaptive motion planning for humanoid robots.
|
IROS | 2008 | 32 |
| Efficient motion planning for humanoid robots using lazy collision checking and enlarged robot models.
|
IROS | 2007 | 20 |
| Manipulation Planning Among Movable Obstacles.
|
ICRA | 2007 | 239 |
| Haptic exploration for 3D shape reconstruction using five-finger hands.
|
Humanoids | 2007 | 14 |
| Sensorimotor processes for learning object representations.
|
Humanoids | 2007 | 12 |
| Stereo-based 6D object localization for grasping with humanoid robot systems.
|
IROS | 2007 | 90 |
| Toward an Unified Representation for Imitation of Human Motion on Humanoids.
|
ICRA | 2007 | 81 |
| Stereo-based Markerless Human Motion Capture for Humanoid Robot Systems.
|
ICRA | 2007 | 54 |
| Synthesizing goal-directed actions from a library of example movements.
|
Humanoids | 2007 | 24 |
| Integrated Grasp Planning and Visual Object Localization For a Humanoid Robot with Five-Fingered Hands.
|
IROS | 2006 | 114 |
| Combining Appearance-based and Model-based Methods for Real-Time Object Recognition and 6D Localization.
|
IROS | 2006 | 44 |
| An Integrated Approach to Inverse Kinematics and Path Planning for Redundant Manipulators.
|
ICRA | 2006 | 189 |
| Imitation Learning of Dual-Arm Manipulation Tasks in Humanoid Robots.
|
Humanoids | 2006 | 216 |
| ARMAR-III: An Integrated Humanoid Platform for Sensory-Motor Control.
|
Humanoids | 2006 | 425 |
| Efficient Collision and Self-Collision Detection for Humanoids Based on Sphere Trees Hierarchies.
|
Humanoids | 2006 | 20 |
| A cognitive architecture for a humanoid robot: a first approach.
|
Humanoids | 2005 | 82 |
| A modular and distributed embedded control architecture for humanoid robots.
|
IROS | 2004 | 18 |
| Programming by demonstration: dual-arm manipulation tasks for humanoid robots.
|
IROS | 2004 | 142 |
| Human-like motion of a humanoid robot arm based on a closed-form solution of the inverse kinematics problem.
|
IROS | 2003 | 168 |
| Design of the TUAT/Karlsruhe humanoid hand.
|
IROS | 2000 | 241 |
| ARMAR: An Anthropomorphic Arm for Humanoid Service Robot.
|
ICRA | 1999 | 0 |