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Technische Universität München

Department of Computer Science
Informatik 9
Boltzmannstrasse 3
85748 Garching


I am currently working in the Intelligent Autonomous Systems Group under the supervision of Prof. Michael Beetz. My current research efforts concentrate on robot manipulation. Using mechanical models of objects, a system can predict what is going to happen to an object when a force is applied to it. A robot can use this knowledge to know how to exert forces to the object to obtain an specific desired goal. Finding a mapping between this object control and a symbolic representation for it can lead to a language that can be used for robot control.

Robots that I currently work actively with are Rosie and our iCub. I have worked in the past with our B21 robot. I have attended to the robotCub iCub 2010, 2009, 2008 and 2007 summers schools.

I obtained my Bachellor and Licenciatura degrees at Escuela de Ingeniería Eléctrica, Universidad de Costa Rica.

Research Topics

  • Parameter Learning
  • Motor Control
  • Object Models
  • Action Language


Every winter semester Innovation@CoTeSys takes place, I participate as a technical coach. This project is a joint teaching and research project on developing new consumer products with cognitive capabilities. The resulting products from every winter semester are then overtaken and considerably improved during the following summer semester by students as a bachellor or diplom project.

For more information: Praktikum - Innovation@CoTeSys (IN2106, IN8902, IN4109)

Personal information:

Blog (spanish)

Personal wiki (linux, projects, tricks, etc)


Journal Articles and Book Chapters

Generality and Legibility in Mobile Manipulation (Michael Beetz, Freek Stulp, Piotr Esden-Tempski, Andreas Fedrizzi, Ulrich Klank, Ingo Kresse, Alexis Maldonado, Federico Ruiz), In Autonomous Robots Journal (Special Issue on Mobile Manipulation), volume 28, 2010. [bib] [pdf]

Conference Papers

Fast adaptation for effect-aware pushing (Federico Ruiz-Ugalde, Gordon Cheng, Michael Beetz), In 11th IEEE-RAS International Conference on Humanoid Robots, 2011. [bib] [pdf]
Imitating human reaching motions using physically inspired optimization principles (Sebastian Albrecht, Karinne Ramirez-Amaro, Federico Ruiz-Ugalde, David Weikersdorfer, Marion Leibold, Michael Ulbrich, Michael Beetz), In 11th IEEE-RAS International Conference on Humanoid Robots, 2011. [bib] [pdf]
Prediction of action outcomes using an object model (Federico Ruiz-Ugalde, Gordon Cheng, Michael Beetz), In 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010. [bib] [pdf]
Compact Models of Human Reaching Motions for Robotic Control in Everyday Manipulation Tasks (Freek Stulp, Ingo Kresse, Alexis Maldonado, Federico Ruiz, Andreas Fedrizzi, Michael Beetz), In Proceedings of the 8th International Conference on Development and Learning (ICDL)., 2009. [bib] [pdf]
The Assistive Kitchen -- A Demonstration Scenario for Cognitive Technical Systems (Michael Beetz, Freek Stulp, Bernd Radig, Jan Bandouch, Nico Blodow, Mihai Dolha, Andreas Fedrizzi, Dominik Jain, Uli Klank, Ingo Kresse, Alexis Maldonado, Zoltan Marton, Lorenz Mösenlechner, Federico Ruiz, Radu Bogdan Rusu, Moritz Tenorth), In IEEE 17th International Symposium on Robot and Human Interactive Communication (RO-MAN), Muenchen, Germany, 2008.(Invited paper.) [bib] [pdf]
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