Robert Krug

Robert Krug

Hi there,

I am a Postdoctoral researcher at the AASS Mobile Robotics and Olfaction LabÖrebro 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, 2016BibTeX | 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, 2016BibTeX | 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, 2014BibTeX | 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, 2012BibTeX | DiVA  ]

Refereed Conference and Workshop Articles

[1] 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, 2016BibTeX | DiVA  ]
[2] 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 2016BibTeX | DiVA  | PDF ]
[3] 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, 2016BibTeX | DiVA  | PDF ]
[4] 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 2016BibTeX | DiVA  | PDF ]
[5] 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 2015BibTeX | DiVA  | PDF ]
[6] 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 2015BibTeX | DiVA  | PDF ]
[7] 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, 2015BibTeX | DiVA  ]
[8] 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) 2015BibTeX | DiVA  ]
[9] 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. 2015BibTeX | DiVA  ]
[10] 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 2014BibTeX | DiVA  | PDF ]
[11] 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, 2014BibTeX | DiVA  ]
[12] 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, 2013BibTeX | DiVA  | PDF ]
[13] 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, 2012BibTeX | DiVA  ]
[14] 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, 2012BibTeX | DiVA  ]
[15] 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, 2011BibTeX | DiVA  ]
[16] 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, 2010BibTeX | DiVA  ]

Theses

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

Find the complete BibTeX record here.

 
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