Torsten Kroeger

Contact

Torsten Kroeger
Artificial Intelligence Laboratory
Stanford University
Stanford, CA 94305-9010
USA

Gates Building, Room 122
Phone: +1 650 725 8810
Fax: +1 650 725-1449
Skype: torstenstel
E-mail: This e-mail address is being protected from spambots. You need JavaScript enabled to view it

Personal Homepage

Research Interests

ICRA 2013 Tutorial on “Reflexxes Motion Libraries — An Introduction to Instantaneous Trajectory Generation”
IROS 2012 Workshop on Robot Motion Planning: Online, Reactive, and in Real-time
On-line trajectory generation and Reflexxes Motion Libraries
Hybrid switched-system control for robot manipulators
Distributed real-time middleware approaches
Robot programming with primitives
Dynamics of articulated systems
Safe human-robot interaction
Force/torque control
Visual servo control
Sensor data fusion

Books

T. Kröger.
On-Line Trajectory Generation in Robotic Systems.
Springer Tracts in Advanced Robotics, Vol. 58, Springer, January 2010.

@book{Kroeger:10a,
	author = {T.~Kr{\"o}ger},
	title = {On-Line Trajectory Generation in Robotic Systems},
	address = {Berlin, Heidelberg, Germany},
	series = {Springer Tracts in Advanced Robotics},
	publisher = {Springer},
	volume = {58},
	month = {January},
	year = {2010}
}

T. Kröger and F. M. Wahl.
Advances in Robotics Research.
Springer, June 2009.

@book{Kroeger:09,
	editor = {T.~Kr{\"o}ger and F.~M.~Wahl},
	title = {Advances in Robotics Research},
	address = {Berlin, Heidelberg, Germany},
	publisher = {Springer},
	month = {June},
	year = {2009}
}

Journal Contributions and Book Chapters

T. Kröger.
On-Line Trajectory Generation: Straight-Line Trajectories.
IEEE Trans. on Robotics. Vol. 27, No. 5, pp. 1010-1016, October 2011.

@article{Kroeger:11c,
	author = {T.~Kr{\"o}ger},
	title = {On-Line Trajectory Generation: Straight-Line Trajectories},
	journal = {IEEE Trans. on Robotics},
	month = {October},
	volume = {27},
	number = {5},
	pages = {1010--1016},
	year = {2011}
}

T. Kröger, B. Finkemeyer, and F. M. Wahl.
Manipulation Primitives - A Universal Interface Between Sensor-Based Motion Control and Robot Programming.
In D. Schütz and F. M. Wahl. Robot Systems for Handling and Assembly. Springer Tracts in Advanced Robotics, Vol. 67, Springer, pp. 293-313, 2010.

@incollection{Kroeger:10b,
	author = {T.~Kr{\"o}ger and B.~Finkemeyer and F.~M.~Wahl},
	title = {Manipulation Primitives\,---\,{A} Universal Interface Between Sensor-Based Motion Control and Robot Programming},
	booktitle = {Robot Systems for Handling and Assembly},
	editor = {D.~Sch{\"u}tz and F.~M.~Wahl},
	address = {Berlin, Heidelberg, Germany},
	series = {Springer Tracts in Advanced Robotics},
	publisher = {Springer},
	volume = {67},
	pages = {293--313},
	edition = {first},
	year = {2010}
}

B. Finkemeyer, T. Kröger, and F. M. Wahl.
A Middleware for High Speed Distributed Real-Time Communication.
In D. Schütz and F. M. Wahl. Robot Systems for Handling and Assembly. Springer Tracts in Advanced Robotics, Vol. 67, Springer, pp. 193-212, 2010.

@incollection{Finkemeyer:10,
	author = {B.~Finkemeyer and T.~Kr{\"o}ger and F.~M.~Wahl},
	title = {A Middleware for High Speed Distributed Real-Time Communication},
	booktitle = {Robot Systems for Handling and Assembly},
	editor = {D.~Sch{\"u}tz and F.~M.~Wahl},
	series = {Springer Tracts in Advanced Robotics},
	address = {Berlin, Heidelberg, Germany},
	publisher = {Springer},
	volume = {67},
	pages = {193--212},
	edition = {first},
	year = {2010}
}

R. Osypiuk and T. Kröger.
3D Stiffness Actuators for Efficient Force Control Applications.
In D. Schütz and F. M. Wahl. Robot Systems for Handling and Assembly. Springer Tracts in Advanced Robotics, Vol. 67, Springer, pp. 275-291, 2010.

@incollection{Osypiuk:10a,
	author = {R.~Osypiuk and T.~Kr{\"o}ger},
	title = {3D Stiffness Actuators for Efficient Force Control Applications},
	booktitle = {Robot Systems for Handling and Assembly},
	editor = {D.~Sch{\"u}tz and F.~M.~Wahl},
	series = {Springer Tracts in Advanced Robotics},
	address = {Berlin, Heidelberg, Germany},
	publisher = {Springer},
	volume = {67},
	pages = {275--291},
	edition = {first},
	year = {2010}
}

T. Kröger and F. M. Wahl.
On-Line Trajectory Generation: Basic Concepts for Instantaneous Reactions to Unforeseen Events.
IEEE Trans. on Robotics. Vol. 26, No. 1, pp. 94-111, February 2010.

@article{Kroeger:10,
	author = {T.~Kr{\"o}ger and F.~M.~Wahl},
	title = {On-Line Trajectory Generation: {B}asic Concepts for Instantaneous Reactions to Unforeseen Events},
	journal = {IEEE Trans. on Robotics},
	month = {February},
	volume = {26},
	number = {1},
	pages = {94--111},
	year = {2010}
}

R. Osypiuk and T. Kröger.
A Three-Loop Model-Following Control Structure: Theory and Implementation.
International Journal of Control. Vol. 83, No. 1, pp. 97-104, January 2010.

@article{Osypiuk:10,
	author = {R.~Osypiuk and T.~Kr{\"o}ger},
	title = {A Three-Loop Model-Following Control Structure: {T}heory and Implementation},
	journal = {International Journal of Control},
	publisher = {Taylor and Francis},
	month = {January},
	volume = {83},
	number = {1},
	pages = {97--104},
	year = {2010}
}

R. Osypiuk and T. Kröger.
A Low-Cost Hexa Platform for Efficient Force Control Systems Using Industrial Manipulators.
Solid State Phenomena. Vol. 147-149, pp. 1-6, January 2009.

@article{Osypiuk:09,
	author = {R.~Osypiuk and T.~Kr{\"o}ger},
	title = {A Low-Cost Hexa Platform for Efficient Force Control Systems Using Industrial Manipulators},
	journal = {Solid State Phenomena},
	month = {January},
	volume = {147--149},
	pages = {1--6},
	year = {2009}
}

T. Kröger, B. Finkemeyer, S. Winkelbach, S. Molkenstruck, L.-O. Eble, and F. M. Wahl.
A Manipulator Plays Jenga.
IEEE Robotics and Automation Magazine. Vol. 15, No. 3, pp. 79-84, September 2008.

@article{Kroeger:08b,
	author = {T.~Kr{\"o}ger and B.~Finkemeyer and S.~Winkelbach and S.~Molkenstruck and L.-O.~Eble and F.~M.~Wahl},
	title = {A Manipulator Plays {J}enga},
	journal = {IEEE Robotics and Automation Magazine},
	month = {September},
	volume = {15},
	number = {3},
	pages = {79--84},
	year = {2008}
}

T. Kröger, D. Kubus, and F. M. Wahl.
Force and Acceleration Sensor Fusion for Compliant Manipulation Control in Six Degrees of Freedom.
Advanced Robotics. Vol. 21, No. 14, pp. 1603-1616, November 2007.

@article{Kroeger:07,
	author = {T.~Kr{\"o}ger and D.~Kubus and F.~M.~Wahl},
	title = {Force and Acceleration Sensor Fusion for Compliant Manipulation Control in Six Degrees of Freedom},
	journal = {Advanced Robotics},
	volume = {21},
	number = {14},
	month = {November},
	pages = {1603--1616},
	year = {2007}
}

B. Finkemeyer, T. Kröger, and F. M. Wahl.
Executing Assembly Tasks Specified by Manipulation Primitive Nets.
Advanced Robotics. Vol. 19, No. 5, pp. 591-611, June 2005.

@article{Finkemeyer:05,
	author = {B.~Finkemeyer and T.~Kr{\"o}ger and F.~M.~Wahl},
	title = {Executing Assembly Tasks Specified by Manipulation Primitive Nets},
	journal = {Advanced Robotics},
	volume = {19},
	number = {5},
	month = {June},
	pages = {591--611},
	year = {2005}
}

B. Finkemeyer, T. Kröger, and F. M. Wahl.
Aktionsprimitive: Ein universelles Roboter-Programmierparadigma.
at - Automatisierungstechnik. pp. 189-196, April 2005.

@article{Finkemeyer:05a,
	author = {B.~Finkemeyer and T.~Kr{\"o}ger and F.~M.~Wahl},
	title = {Aktionsprimitive: {E}in universelles Roboter-Programmierparadigma},
	journal = {at - Automatisierungstechnik},
	month = {April},
	pages = {189--196},
	year = {2005}
}

Conference Contributions

T. Kröger, K. Oslund, T. Jenkins, D. Torczynski, N. Hippenmeyer, R. B. Rusu, and O. Khatib.
JediBot - Experiments in Human-Robot Sword-Fighting.
In Proc. of the International Symposium on Experimental Robotics, Québec City, Canada, June 2012.

@inproceedings{Kroeger:12b,
	author = {{T.~Kr{\"o}ger} and K.~Oslund and T.~Jenkins and D.~Torczynski and N.~Hippenmeyer and R.~B.~Rusu and O.~Khatib},
	title = {JediBot\,---\,Experiments in Human-Robot Sword-Fighting},
	booktitle = {Proc. of the International Symposium on Experimental Robotics},
	month = {June},
	address = {Qu\'{e}bec City, Canada},
	year = {2012}
}

T. Kröger.
On-Line Trajectory Generation: Nonconstant Motion Constraints.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 2048-2054, Saint Paul, MN, USA, May 2012.

@inproceedings{Kroeger:12,
	author = {T.~Kr{\"o}ger},
	title = {On-Line Trajectory Generation: {N}onconstant Motion Constraints},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	pages = {2048--2054},
	address = {Saint Paul, MN, USA},
	year = {2012}
}

T. Kröger and J. Padial.
Simple and Robust Visual Servo Control of Robot Arms Using an On-Line Trajectory Generator.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 4862-4869, Saint Paul, MN, USA, May 2012.

@inproceedings{Kroeger:12a,
	author = {T.~Kr{\"o}ger and J.~Padial},
	title = {Simple and Robust Visual Servo Control of Robot Arms Using an On-Line Trajectory Generator},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	pages = {4862--4869},
	address = {Saint Paul, MN, USA},
	year = {2012}
}

F. Flacco, T. Kröger, A. De Luca, and O. Khatib.
A Depth Space Approach to Human-Robot Collision Avoidance.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 338-345, Saint Paul, MN, USA, May 2012.

@inproceedings{Flacco:12,
	author = {F.~Flacco and T.~Kr{\"o}ger and A.~De~Luca and O.~Khatib},
	title = {A Depth Space Approach to Human-Robot Collision Avoidance},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	pages = {338--345},
	address = {Saint Paul, MN, USA},
	year = {2012}
}

T. Kröger.
Opening the Door to New Sensor-Based Robot Applications - The Reflexxes Motion Libraries.
In Proc. of the IEEE International Conference on Robotics and Automation, Shanghai, China, May 2011.

@inproceedings{Kroeger:11,
	author = {T.~Kr{\"o}ger},
	title = {Opening the Door to New Sensor-Based Robot Applications\,---\,The Reflexxes Motion Libraries},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	address = {Shanghai, China},
	year = {2011}
}

T. Kröger and F. M. Wahl.
Stabilizing Hybrid Switched Motion Control Systems with an On-Line Trajectory Generator.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 4009-4015, Anchorage, AK, USA, May 2010.

@inproceedings{Kroeger:10c,
	author = {T.~Kr{\"o}ger and F.~M.~Wahl},
	title = {Stabilizing Hybrid Switched Motion Control Systems with an On-Line Trajectory Generator},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	pages = {4009--4015},
	address = {Anchorage, AK, USA},
	year = {2010}
}

B. Finkemeyer, T. Kröger, and F. M. Wahl.
The Adaptive Selection Matrix - A Key Component for Sensor-Based Control of Robotic Manipulators.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 3855-3862, Anchorage, AK, USA, May 2010.

@inproceedings{Finkemeyer:10a,
	author = {B.~Finkemeyer and T.~Kr{\"o}ger and F.~M.~Wahl},
	title = {The Adaptive Selection Matrix\,---\,{A} Key Component for Sensor-Based Control of Robotic Manipulators},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	pages = {3855--3862},
	address = {Anchorage, AK, USA},
	year = {2010}
}

D. Kubus, T. Kröger, and F. M. Wahl.
On-Line Estimation of Inertial Parameters Using a Recursive Total Least-Squares Approach.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 3845-3852, Nice, France, September 2008.

@inproceedings{Kubus:08,
	author = {D.~Kubus and T.~Kr{\"o}ger and F.~M.~Wahl},
	title = {On-Line Estimation of Inertial Parameters Using a Recursive Total Least-Squares Approach},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	month = {September},
	pages = {3845--3852},
	address = {Nice, France},
	year = {2008}
}

T. Kröger and F. M. Wahl.
Multi-Sensor Integration and Sensor Fusion in Industrial Manipulation: Hybrid Switched Control, Trajectory Generation, and Software Development.
In Proc. of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems, pp. 411-418, Seoul, South Korea, August 2008.

@inproceedings{Kroeger:08e,
	author = {T.~Kr{\"o}ger and F.~M.~Wahl},
	title = {Multi-Sensor Integration and Sensor Fusion in Industrial Manipulation: {H}ybrid Switched Control, Trajectory Generation, and Software Development},
	booktitle = {Proc. of the IEEE International Conference on Multisensor Fusion and Integration for Intelligent Systems},
	month = {August},
	pages = {411--418},
	address = {Seoul, South Korea},
	year = {2008}
}

D. Kubus, T. Kröger, and F. M. Wahl.
Improving Force Control Performance by Computational Elimination of Non-Contact Forces/Torques.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 2617-2622, Pasadena, CA, USA, May 2008.

@inproceedings{Kroeger:08,
	author = {D.~Kubus and T.~Kr{\"o}ger and F.~M.~Wahl},
	title = {Improving Force Control Performance by Computational Elimination of Non-Contact Forces/Torques},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	pages = {2617--2622},
	address = {Pasadena, CA, USA},
	year = {2008}
}

T. Kröger, D. Kubus, and F. M. Wahl.
12D Force and Acceleration Sensing: A Helpful Experience Report on Sensor Characteristics.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 3455-3462, Pasadena, CA, USA, May 2008.

@inproceedings{Kroeger:08a,
	author = {T.~Kr{\"o}ger and D.~Kubus and F.~M.~Wahl},
	title = {12D Force and Acceleration Sensing: {A} Helpful Experience Report on Sensor Characteristics},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	month = {May},
	pages = {3455--3462},
	address = {Pasadena, CA, USA},
	year = {2008}
}

D. Kubus, T. Kröger, and F. M. Wahl.
On-line Rigid Object Recognition and Pose Estimation Based on Inertial Parameters.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1402-1408, San Diego, CA, USA, October 2007.

@inproceedings{Kroeger:07c,
	author = {D.~Kubus and T.~Kr{\"o}ger and F.~M.~Wahl},
	title = {On-line Rigid Object Recognition and Pose Estimation Based on Inertial Parameters},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	pages = {1402--1408},
	month = {October},
	address = {San Diego, CA, USA},
	year = {2007}
}

T. Kröger, D. Kubus, and F. M. Wahl.
6D Force and Acceleration Sensor Fusion for Compliant Manipulation Control.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 2626-2631, Beijing, China, October 2006.

@inproceedings{Kroeger:06c,
	author = {T.~Kr{\"o}ger and D.~Kubus and F.~M.~Wahl},
	title = {{6}{D} Force and Acceleration Sensor Fusion for Compliant Manipulation Control},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	address = {Beijing, China},
	month = {October},
	pages = {2626--2631},
	year = {2006}
}

T. Kröger, A. Tomiczek, and F. M. Wahl.
Towards On-Line Trajectory Computation.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 736-741, Beijing, China, October 2006.

@inproceedings{Kroeger:06d,
	author = {T.~Kr{\"o}ger and A.~Tomiczek and F.~M.~Wahl},
	title = {Towards On-Line Trajectory Computation},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	address = {Beijing, China},
	month = {October},
	pages = {736--741},
	year = {2006}
}

T. Rennekamp, K. Homeier, and T. Kröger.
Distributed Sensing and Prediction of Obstacle Motions for Mobile Robot Motion Planning.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 4833-4838, Beijing, China, October 2006.

@inproceedings{Kroeger:06e,
	author = {T.~Rennekamp and K.~Homeier and T.~Kr{\"o}ger},
	title = {Distributed Sensing and Prediction of Obstacle Motions for Mobile Robot Motion Planning},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	address = {Beijing, China},
	month = {October},
	pages = {4833--4838},
	year = {2006}
}

T. Kröger, B. Finkemeyer, S. Winkelbach, S. Molkenstruck, L.-O. Eble, and F. M. Wahl.
Demonstration of Multi-Sensor Integration in Industrial Manipulation (Poster).
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 4282-4284, Orlando, FL, USA, May 2006.

@inproceedings{Kroeger:06,
	author = {T.~Kr{\"o}ger and B.~Finkemeyer and S.~Winkelbach and S.~Molkenstruck and L.-O.~Eble and F.~M.~Wahl},
	title = {Demonstration of Multi-Sensor Integration in Industrial Manipulation (Poster)},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	address = {Orlando, FL, USA},
	month = {May},
	pages = {4282--4284},
	year = {2006}
}

T. Kröger, B. Finkemeyer, S. Winkelbach, S. Molkenstruck, L.-O. Eble, and F. M. Wahl.
Demonstration of Multi-Sensor Integration in Industrial Manipulation (Video).
In Proc. of the IEEE International Conference on Robotics and Automation, Orlando, FL, USA, May 2006.

@inproceedings{Kroeger:06a,
	author = {T.~Kr{\"o}ger and B.~Finkemeyer and S.~Winkelbach and S.~Molkenstruck and L.-O.~Eble and F.~M.~Wahl},
	title = {Demonstration of Multi-Sensor Integration in Industrial Manipulation (Video)},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	address = {Orlando, FL, USA},
	month = {May},
	year = {2006}
}

R. Osypiuk, T. Kröger, B. Finkemeyer, and F. M. Wahl.
A Two-Loop Implicit Force/Position Control Structure, Based on a Simple Linear Model: Theory and Experiment.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 2232-2237, Orlando, FL, USA, May 2006.

@inproceedings{Kroeger:06b,
	author = {R.~Osypiuk and T.~Kr{\"o}ger and B.~Finkemeyer and F.~M.~Wahl},
	title = {A Two-Loop Implicit Force/Position Control Structure, Based on a Simple Linear Model: {T}heory and Experiment},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	address = {Orlando, FL, USA},
	month = {May},
	pages = {2232--2237},
	year = {2006}
}

T. Kröger, B. Finkemeyer, M. Heuck, and F. M. Wahl.
Adaptive Implicit Hybrid Force/Pose Control of Industrial Manipulators: Compliant Motion Experiments.
In Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 816-821, Sendai, Japan, September 2004.

@inproceedings{Kroeger:04b,
	author = {T.~Kr{\"o}ger and B.~Finkemeyer and M.~Heuck and F.~M.~Wahl},
	title = {Adaptive Implicit Hybrid Force/Pose Control of Industrial Manipulators: {C}ompliant Motion Experiments},
	booktitle = {Proc. of the IEEE/RSJ International Conference on Intelligent Robots and Systems},
	address = {Sendai, Japan},
	month = {September},
	pages = {816--821},
	year = {2004}
}

T. Kröger, B. Finkemeyer, U. Thomas, and F. M. Wahl.
Compliant Motion Programming: The Task Frame Formalism Revisited.
In Mechatronics and Robotics, pp. 1029-1034, Aachen, Germany, September 2004.

@inproceedings{Kroeger:04a,
	author = {T.~Kr{\"o}ger and B.~Finkemeyer and U.~Thomas and F.~M.~Wahl},
	title = {Compliant Motion Programming: {T}he Task Frame Formalism Revisited},
	booktitle = {Mechatronics and Robotics},
	address = {Aachen, Germany},
	month = {September},
	pages = {1029--1034},
	year = {2004}
}

T. Kröger, B. Finkemeyer, and F. M. Wahl.
A Task Frame Formalism for Practical Implementations.
In Proc. of the IEEE International Conference on Robotics and Automation, pp. 5218-5223, New Orleans, LA, USA, April 2004.

@inproceedings{Kroeger:04,
	author = {T.~Kr{\"o}ger and B.~Finkemeyer and F.~M.~Wahl},
	title = {A Task Frame Formalism for Practical Implementations},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	address = {New Orleans, LA, USA},
	month = {April},
	pages = {5218--5223},
	year = {2004}
}

U. Thomas, B. Finkemeyer, T. Kröger, and F. M. Wahl.
Error-Tolerant Execution of Complex Robot Tasks Based on Skill Primitives.
In Proc. of the IEEE International Conference on Robotics and Automation, Vol. 3, pp. 3069-3075, Taipei, Taiwan, September 2003.

@inproceedings{Thomas:03,
	author = {U.~Thomas and B.~Finkemeyer and T.~Kr{\"o}ger and F.~M.~Wahl},
	title = {Error-Tolerant Execution of Complex Robot Tasks Based on Skill Primitives},
	booktitle = {Proc. of the IEEE International Conference on Robotics and Automation},
	volume = {3},
	address = {Taipei, Taiwan},
	month = {September},
	pages = {3069--3075},
	year = {2003}
}

B. Finkemeyer, T. Kröger, and F. M. Wahl.
Placing of Objects in Unknown Environments.
In Proc. of the IEEE International Conference on Methods and Models in Automation and Robotics, pp. 975-980, Miedzyzdroje, Poland, August 2003.

@inproceedings{Finkemeyer:03,
	author = {B.~Finkemeyer and T.~Kr{\"o}ger and F.~M.~Wahl},
	title = {Placing of Objects in Unknown Environments},
	booktitle = {Proc. of the IEEE International Conference on Methods and Models in Automation and Robotics},
	month = {August},
	address = {Mi\c{e}dzyzdroje, Poland},
	year = {2003},
	pages = {975--980}
}

K. Diethers, T. Firley, T. Kröger, and U. Thomas.
A New Framework for Task Oriented Sensor Based Robot Programming and Verification.
In Proc. of the IEEE International Conference on Advanced Robotics, pp. 1208-1214, Coimbra, Portugal, June 2003.

@inproceedings{Diethers:03,
	author = {K.~Diethers and T.~Firley and T.~Kr{\"o}ger and U.~Thomas},
	title = {A New Framework for Task Oriented Sensor Based Robot Programming and Verification},
	booktitle = {Proc. of the IEEE International Conference on Advanced Robotics},
	address = {Coimbra, Portugal},
	month = {June},
	pages = {1208--1214},
	year = {2003}
}

Miscellaneous Publications

F. Flacco, T. Kröger, A. De Luca, and O. Khatib.
A Depth Space Approach to Human-Robot Collision Avoidance.
In Workshop on Human-Friendly Robotics, Twente, The Netherlands, November 2011.

@inproceedings{Flacco:11a,
	author = {F.~Flacco and T.~Kr{\"o}ger and A.~De~Luca and O.~Khatib},
	title = {A Depth Space Approach to Human-Robot Collision Avoidance},
	month = {November},
	booktitle = {Workshop on Human-Friendly Robotics},
	address = {Twente, The Netherlands},
	year = {2011}
}

F. Flacco, T. Kröger, A. De Luca, and O. Khatib.
Collision Avoidance in Depth Space.
In Workshop on RGB-D: Advanced Reasoning with Depth Cameras at Robotics Science and Systems, Los Angeles, CA, USA, June 2011.

@inproceedings{Flacco:11,
	author = {F.~Flacco and T.~Kr{\"o}ger and A.~De~Luca and O.~Khatib},
	title = {Collision Avoidance in Depth Space},
	month = {June},
	booktitle = {Workshop on RGB-D: Advanced Reasoning with Depth Cameras at Robotics Science and Systems},
	address = {Los Angeles, CA, USA},
	year = {2011}
}

T. Kröger and B. Finkemeyer.
Robot Motion Control During Abrupt Switchings Between Manipulation Primitives.
In Workshop on Mobile Manipulation at the IEEE International Conference on Robotics and Automation, Shanghai, China, May 2011.

@inproceedings{Kroeger:11a,
	author = {T.~Kr{\"o}ger and B.~Finkemeyer},
	title = {Robot Motion Control During Abrupt Switchings Between Manipulation Primitives},
	month = {May},
	booktitle = {Workshop on Mobile Manipulation at the {I}{E}{E}{E} International Conference on Robotics and Automation},
	address = {Shanghai, China},
	year = {2011}
}

T. Kröger and F. M. Wahl.
Low-Level Control of Robot Manipulators: Sensor-Guided Control and On-Line Trajectory Generation.
In Workshop on Innovative Robot Control Architectures for Demanding (Research) Applications - How to Modify and Enhance Commercial Controllers at the IEEE International Conference on Robotics and Automation, pp. 46-53, Anchorage, AK, USA, May 2010.

@inproceedings{Kroeger:10d,
	author = {T.~Kr{\"o}ger and F.~M.~Wahl},
	title = {Low-Level Control of Robot Manipulators: Sensor-Guided Control and On-Line Trajectory Generation},
	month = {May},
	booktitle = {Workshop on Innovative Robot Control Architectures for Demanding (Research) Applications - How to Modify and Enhance Commercial Controllers at the {I}{E}{E}{E} International Conference on Robotics and Automation},
	address = {Anchorage, AK, USA},
	pages = {46--53},
	year = {2010}
}

D. Kubus, A. Sommerkorn, T. Kröger, J. Maaß, and F. M. Wahl.
Low-Level Control of Robot Manipulators: Distributed Open Real-Time Control Architectures for Stäubli RX and TX Manipulators.
In Workshop on Innovative Robot Control Architectures for Demanding (Research) Applications - How to Modify and Enhance Commercial Controllers at the IEEE International Conference on Robotics and Automation, pp. 38-45, Anchorage, AK, USA, May 2010.

@inproceedings{Kubus:10e,
	author = {D.~Kubus and A.~Sommerkorn and T.~Kr{\"o}ger and J.~Maa{\ss} and F.~M.~Wahl},
	title = {Low-Level Control of Robot Manipulators: Distributed Open Real-Time Control Architectures for St{\"a}ubli RX and TX Manipulators},
	month = {May},
	booktitle = {Workshop on Innovative Robot Control Architectures for Demanding (Research) Applications - How to Modify and Enhance Commercial Controllers at the {I}{E}{E}{E} International Conference on Robotics and Automation},
	address = {Anchorage, AK, USA},
	pages = {38--45},
	year = {2010}
}

B. Finkemeyer, T. Kröger, D. Kubus, M. Olschewski, and F. M. Wahl.
MiRPA: Middleware for Robotic and Process Control Applications.
In Workshop on Measures and Procedures for the Evaluation of Robot Architectures and Middleware at the IEEE/RSJ International Conference on Intellegent Robots and Systems, pp. 78-93, San Diego, CA, USA, October 2007.

@inproceedings{Kroeger:07d,
	author = {B.~Finkemeyer and T.~Kr{\"o}ger and D.~Kubus and M.~Olschewski and F.~M.~Wahl},
	title = {{M}i{R}{P}{A}: {M}iddleware for Robotic and Process Control Applications},
	booktitle = {Workshop on Measures and Procedures for the Evaluation of Robot Architectures and Middleware at the {I}{E}{E}{E}/{R}{S}{J} International Conference on Intellegent Robots and Systems},
	month = {October},
	pages = {78--93},
	address = {San Diego, CA, USA},
	year = {2007}
}

K. König, V. Schöning, and T. Kröger.
Ein transparentes, modulares Kommunikationsframework für die Entwicklung von Software im Automobilbereich.
In AAET: 8. Symposium zum Thema Automatisierungs-, Assistenzsysteme und eingebettete Systeme für Transportmittel, pp. 198-218, Braunschweig, Germany, February 2007.

@inproceedings{Kroeger:07a,
	author = {K.~K{\"o}nig and V.~Sch{\"o}ning and T.~Kr{\"o}ger},
	title = {Ein transparentes, modulares Kommunikationsframework f{\"u}r die Entwicklung von Software im Automobilbereich},
	booktitle = {{A}{A}{E}{T}: 8. {S}ymposium zum Thema Automatisierungs-, Assistenzsysteme und eingebettete Systeme f{\"u}r Transportmittel},
	pages = {198--218},
	address = {Braunschweig, Germany},
	month = {February},
	year = {2007}
}

T. Kröger, B. Finkemeyer, and F. M. Wahl.
Hard- und Softwarearchitektur zur Ausführung von Aktionsprimitiven.
In VDE/VDI GMA-Fachausschuss 4.13 "Steuerung und Regelung von Robotern", Frankfurt, Germany, July 2005.

@inproceedings{Kroeger:05g,
	author = {T.~Kr{\"o}ger and B.~Finkemeyer and F.~M.~Wahl},
	title = {Hard- und Softwarearchitektur zur Ausf{\"u}hrung von Aktionsprimitiven},
	booktitle = {VDE/VDI GMA-Fachausschuss 4.13 ``Steuerung und Regelung von Robotern''},
	address = {Frankfurt, Germany},
	month = {July},
	year = {2005}
}

T. Kröger, B. Finkemeyer, and F. M. Wahl.
Manipulation Primitives as Interface between Task Programming and Execution.
In Workshop on Issues and Approaches to Task Level Control at the IEEE/RSJ International Conference on Intellegent Robots and Systems, Sendai, Japan, September 2004.

@inproceedings{Kroeger:04c,
	author = {T.~Kr{\"o}ger and B.~Finkemeyer and F.~M.~Wahl},
	title = {Manipulation Primitives as Interface between Task Programming and Execution},
	booktitle = {Workshop on Issues and Approaches to Task Level Control at the {I}{E}{E}{E}/{R}{S}{J} International Conference on Intellegent Robots and Systems},
	address = {Sendai, Japan},
	month = {September},
	year = {2004}
}

T. Kröger.
Fehlertolerante Ausführung von Robotermontageaufgaben auf der Basis von Aktionsprimitiven.
In VDE/VDI GMA-Fachausschuss 4.13 "Steuerung und Regelung von Robotern", Frankfurt, Germany, July 2003.

@inproceedings{Kroeger:03g,
	author = {T.~Kr{\"o}ger},
	title = {Fehlertolerante Ausf{\"u}hrung von Robotermontageaufgaben auf der Basis von Aktionsprimitiven},
	booktitle = {VDE/VDI GMA-Fachausschuss 4.13 ``Steuerung und Regelung von Robotern''},
	address = {Frankfurt, Germany},
	month = {July},
	year = {2003}
}

Theses

T. Kröger.
On-Line Trajectory Generation in Robotic Systems: Basic Concepts for Instantaneous Reactions to Unforeseen (Sensor) Events.
Ph.D. thesis. Institut für Robotik und Prozessinformatik, Carl-Friedrich-Gauß-Fakultät, Technische Universität Carolo-Wilhelmina zu Braunschweig, Mühlenpfordtstraße 23, D-38106 Braunschweig, Germany, April 2009.

@book{Kroeger:09j,
	author = {T.~Kr{\"o}ger},
	title = {On-Line Trajectory Generation in Robotic Systems: Basic Concepts for Instantaneous Reactions to Unforeseen (Sensor) Events},
	series = {Ph.D. thesis. Institut f{\"u}r Robotik und Prozessinformatik, Carl-Friedrich-Gau{\ss}-Fakult{\"a}t, Technische Universit{\"a}t Carolo-Wilhelmina zu Braunschweig, M{\"u}hlenpfordtstra{\ss}e 23, D-38106 Braunschweig, Germany},
	month = {April},
	year = {2009}
}

T. Kröger.
Development and Verification of a Robot Programming Interface Based on Skill Primitives.
Diploma thesis (Diplomarbeit). Institut für Robotik und Prozessinformatik, Carl-Friedrich-Gauß-Fakultät, Technische Universität Carolo-Wilhelmina zu Braunschweig, Mühlenpfordtstraße 23, D-38106 Braunschweig, Germany, December 2002.

@book{Kroeger:02,
	author = {T.~Kr{\"o}ger},
	title = {Development and Verification of a Robot Programming Interface Based on Skill Primitives},
	series = {Diploma thesis (Diplomarbeit). Institut f{\"u}r Robotik und Prozessinformatik, Carl-Friedrich-Gau{\ss}-Fakult{\"a}t, Technische Universit{\"a}t Carolo-Wilhelmina zu Braunschweig, M{\"u}hlenpfordtstra{\ss}e 23, D-38106 Braunschweig, Germany},
	month = {December},
	year = {2002}
}

T. Kröger.
Embedding Force Control in a Robot Control System.
Student thesis (Studienarbeit). Institut für elektrische Messtechnik und Grundlagen der Elektrotechnik, Technische Universität Carolo-Wilhelmina zu Braunschweig, Hans-Sommer-Straße 66, D-38106 Braunschweig, Germany, March 2002.

@book{Kroeger:02a,
	author = {T.~Kr{\"o}ger},
	title = {Embedding Force Control in a Robot Control System},
	series = {Student thesis (Studienarbeit). Institut f{\"u}r elektrische Messtechnik und Grundlagen der Elektrotechnik, Technische Universit{\"a}t Carolo-Wilhelmina zu Braunschweig, Hans-Sommer-Stra{\ss}e 66, D-38106 Braunschweig, Germany},
	month = {March},
	year = {2002}
}

Stanford Robotics