Robert Krug

Hi there,

I am a Postdoctoral researcher at the AASS Mobile Robotics and Olfaction Lab, Örebro University, Sweden, where I completed a PhD in Control Theory in 2014. Before joining the MR&O lab, I earned a diploma degree in Mechatronics in Mechanical Engineering from the University of Technology Graz, Austria, in 2009. My full CV can be found here.

Research Interests

My research focuses on a holistic perspective of robot motion- and interaction behavior generation. Historically, solution strategies to these problems have been arbitrarily divided into sub-problems such as “planning” or “tracking control”. Instead, I am interested in using control-based approaches for simultaneous robot motion generation and execution. An additional research avenue I am pursuing is the computation of physically realistic grasp quality metrics. Current application areas of interest include:

Autonomous grasping and manipulation
Telemanipulation under shared autonomy
Robot fleet navigation and coordination

Link to my Google Scholar Profile.

Software

Several of my publications and projects have also produced open source software, bundled together in a stack of ROS packages. Most of the software is available for download through our lab repository. Recent work I have contributed to includes:

Teaching

Robot Control (2016), Örebro University. Instructor
Artificial Intelligence for Mobile Robots (2010, 2011), Örebro University. Teaching Assistant
Sensors and Sensing (2011), Örebro University. Teaching Assistant
Principles of Dynamics (2005 – 2007), Graz University of Technology. Teaching Assistant
Principles of Statics (2005 – 2007), Graz University of Technology. Teaching Assistant

Mentoring

Jens Lundell and João Salvado, Örebro University. PhD Co-Advisor
Marcus A. Johansson, Chittaranjan Swaminathan, Örebro University. Masters Advisor

Contact

Dr. Robert Krug

AASS Research Centre
School of Science and Technology
Örebro University
70182 Örebro, Sweden
Room T1219
Phone +46 (0)19 30 34 99
robert.krug@oru.se

Publications

Journal Articles

[1]	T. Stoyanov, N. Vaskevicius, C. A. Mueller, T. Fromm, R. Krug, V. Tincani, R. Mojtahedzadeh, S. Kunaschk, R. M. Ernits, D. R. Canelhas, M. Bonilla, S. Schwertfeger, M. Bonini, H. Halfar, K. Pathak, M. Rohde, G. Fantoni, A. Bicchi, A. Birk, A. J. Lilienthal and W. Echelmeyer. No More Heavy Lifting : Robotic Solutions to the Container-Unloading Problem. IEEE robotics & automation magazine, 23(4):94-106, 2016 [ BibTeX \| DiVA \| PDF ]
[2]	R. Krug, T. Stoyanov, V. Tincani, H. Andreasson, R. Mosberger, G. Fantoni and A. J. Lilienthal. The Next Step in Robot Commissioning : Autonomous Picking and Palletizing. IEEE Robotics and Automation Letters, 1(1):546-553, 2016 [ BibTeX \| DiVA \| PDF ]
[3]	R. Krug and D. Dimitrov. Model predictive motion control based on generalized dynamical movement primitives. Journal of Intelligent and Robotic Systems, 77(1):17-35, 2014 [ BibTeX \| DiVA ]
[4]	E. Berglund, B. Iliev, R. Palm, R. Krug, K. Charusta and D. Dimitrov. Mapping between different kinematic structures without absolute positioning during operation. Electronics Letters, 48(18):1110-1112, 2012 [ BibTeX \| DiVA ]

Refereed Conference and Workshop Articles

[1]	T. Stoyanov, R. Krug, A. Kiselev, D. Sun and A. Loutfi. Assisted Telemanipulation : A Stack-Of-Tasks Approach to Remote Manipulator Control. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 6640-6645, 2018 [ BibTeX \| DiVA ]
[2]	J. Salvado, R. Krug, M. Mansouri and F. Pecora. Motion Planning and Goal Assignment for Robot Fleets Using Trajectory Optimization. In 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 7940-7946, 2018 [ BibTeX \| DiVA ]
[3]	J. Lundell, R. Krug, E. Schaffernicht, T. Stoyanov and V. Kyrki. Safe-To-Explore State Spaces : Ensuring Safe Exploration in Policy Search with Hierarchical Task Optimization. In IEEE-RAS Conference on Humanoid Robots, pages 132-138, 2018 [ BibTeX \| DiVA ]
[4]	R. Krug, A. J. Lilienthal, D. Kragic and Y. Bekiroglu. Analytic Grasp Success Prediction with Tactile Feedback. In 2016 IEEE International Conference on Robotics and Automation, ICRA 2016, pages 165-171, 2016 [ BibTeX \| DiVA ]
[5]	R. T. Chadalavada, H. Andreasson, R. Krug and A. Lilienthal. Empirical evaluation of human trust in an expressive mobile robot. In Proceedings of RSS Workshop Social Trust in Autonomous Robots 2016 2016 [ BibTeX \| DiVA \| PDF ]
[6]	T. Stoyanov, R. Krug, R. Muthusamy and V. Kyrki. Grasp Envelopes : Extracting Constraints on Gripper Postures from Online Reconstructed 3D Models. In Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), pages 885-892, 2016 [ BibTeX \| DiVA \| PDF ]
[7]	E. Bunz, R. T. Chadalavada, H. Andreasson, R. Krug, M. Schindler and A. Lilienthal. Spatial Augmented Reality and Eye Tracking for Evaluating Human Robot Interaction. In Proceedings of RO-MAN 2016 Workshop : Workshop on Communicating Intentions in Human-Robot Interaction 2016 [ BibTeX \| DiVA \| PDF ]
[8]	R. Krug, T. Stoyanov and A. Lilienthal. Grasp Envelopes for Constraint-based Robot Motion Planning and Control. In Robotics: Science and Systems Conference : Workshop on Bridging the Gap between Data-driven and Analytical Physics-based Grasping and Manipulation 2015 [ BibTeX \| DiVA \| PDF ]
[9]	R. Krug, T. Stoyanov, V. Tincani, H. Andreasson, R. Mosberger, G. Fantoni, A. Bicchi and A. Lilienthal. On Using Optimization-based Control instead of Path-Planning for Robot Grasp Motion Generation. In IEEE International Conference on Robotics and Automation (ICRA) - Workshop on Robotic Hands, Grasping, and Manipulation 2015 [ BibTeX \| DiVA \| PDF ]
[10]	V. Tincani, M. Catalano, G. Grioli, T. Stoyanov, R. Krug, A. J. Lilienthal, G. Fantoni and A. Bicchi. Sensitive Active Surfaces on the Velvet II Dexterous Gripper. , pages 2744-2750, 2015 [ BibTeX \| DiVA ]
[11]	R. T. Chadalavada, H. Andreasson, R. Krug and A. Lilienthal. That’s on my Mind! : Robot to Human Intention Communication through on-board Projection on Shared Floor Space. In 2015 European Conference on Mobile Robots (ECMR) 2015 [ BibTeX \| DiVA ]
[12]	V. Tincani, T. Stoyanov, R. Krug, M. Catalano, G. Grioli, A. J. Lilienthal, G. Fantoni and A. Bicchi. The Grasp Acquisition Strategy of the Velvet II. 2015 [ BibTeX \| DiVA ]
[13]	R. Krug, T. Stoyanov, M. Bonilla, V. Tincani, N. Vaskevicius, G. Fantoni, A. Birk, A. Lilienthal and A. Bicchi. Improving Grasp Robustness via In-Hand Manipulation with Active Surfaces. In Workshop on Autonomous Grasping and Manipulation : An Open Challenge 2014 [ BibTeX \| DiVA \| PDF ]
[14]	R. Krug, T. Stoyanov, M. Bonilla, V. Tincani, N. Vaskevicius, G. Fantoni, A. Birk, A. J. Lilienthal and A. Bicchi. Velvet fingers : grasp planning and execution for an underactuated gripper with active surfaces. In Proceedings of the IEEE International Conference on Robotics and Automation (ICRA), pages 3669-3675, 2014 [ BibTeX \| DiVA ]
[15]	R. Krug and D. Dimitar. Representing movement primitives as implicit dynamical systems learned from multiple demonstrations. In Proceedings of the International Conference on Advanced Robotics (ICAR), pages 1-8, 2013 [ BibTeX \| DiVA \| PDF ]
[16]	K. Charusta, R. Krug, T. Stoyanov, D. Dimitrov and B. Iliev. Generation of independent contact regions on objects reconstructed from noisy real-world range data. In 2012 IEEE International Conference on Robotics and Automation (ICRA), pages 1338-1344, 2012 [ BibTeX \| DiVA ]
[17]	K. Charusta, R. Krug, D. Dimitrov and B. Iliev. Independent contact regions based on a patch contact model. In 2012 IEEE International Conference on Robotics and Automation (ICRA), pages 4162-4169, 2012 [ BibTeX \| DiVA ]
[18]	R. Krug, D. Dimitrov, K. Charusta and B. Iliev. Prioritized independent contact regions for form closure grasps. In 2011 IEEE/RSJ International Conference on Intelligent Robots and Systems, pages 1797-1803, 2011 [ BibTeX \| DiVA ]
[19]	R. Krug, D. Dimitrov, K. Charusta and B. Iliev. On the efficient computation of independent contact regions for force closure grasps. In IEEE/RSJ 2010 International Conference on Intelligent Robots and Systems (IROS 2010), pages 586-591, 2010 [ BibTeX \| DiVA ]

Theses

[1]	R. Krug. Optimization-based robot grasp synthesis and motion control. Örebro University, School of Science and Technology, Ph.D. Thesis, 2014 [ BibTeX \| DiVA \| PDF ]

Find the complete BibTeX record here.