dGrasp: NeRF-Informed implicit grasp policies with supervised optimization slopes
Sóti, G.; Huang, X.; Wurll, C.; Hein, B.
2025. Robotics and Autonomous Systems, 186, 104921. doi:10.1016/j.robot.2025.104921

Proximity Servoed Minimally Invasive Continuum Robot for Endoscopic Interventions
Marzi, C.; Themistocli, M.; Hein, B.; Mathis-Ullrich, F.
2024. IEEE Transactions on Medical Robotics and Bionics, 6 (4), 1738–1747. doi:10.1109/TMRB.2024.3464127

A Comprehensive Modeling and Scheduling Approach for Allocating Distributed Multi-Robot Software to the Edge/Cloud
Zhang, Y.; Mirus, F.; Pasch, F.; Scholl, K.-U.; Wurll, C.; Hein, B.
2024. 2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Abu Dhabi, 14th - 18th October 2024, 5799–5806, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS58592.2024.10802443

Enhancing Force Sensing Capabilities in Exoskeleton Interfaces Using Compliant Actuator-Sensor Units - A User Study
Alagi, H.; Fischer, N.; Behrends, K.; Ftirst-Walter, I.; Becker, J.; Beigl, M.; Mathis-Ullrich, F.; Hein, B.
2024. 2024 10th IEEE RAS/EMBS International Conference for Biomedical Robotics and Biomechatronics (BioRob), Heidelberg, Germany, 01-04 September 2024, 889–894, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/BioRob60516.2024.10719794

Conquering the Robotic Software Development Cycle at Scale: Using KubeROS from Simulation to Real-world Deployment
Zhang, Y.; Pasch, F.; Mirus, F.; Scholl, K.-U.; Wurll, C.; Hein, B.
2024. 2024 IEEE 20th International Conference on Automation Science and Engineering (CASE), Bari, 28th August 2024 - 1st September 2024, 1503–1509, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/CASE59546.2024.10711591

Planning with Learned Subgoals Selected by Temporal Information
Huang, X.; Sóti, G.; Ledermann, C.; Hein, B.; Kröger, T.
2024. 2024 IEEE International Conference on Robotics and Automation (ICRA), Yokohama, 13th-17th May 2024, 9306 – 9312, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA57147.2024.10610538

A Compliant Actuator-Sensor Unit using a Shape Memory Alloy and Capacitive Force Sensing for Active Exoskeleton Interfaces
Fischer, N.; Alagi, H.; Beigl, M.; Hein, B.; Mathis-Ullrich, F.
2023. 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids), 1–7, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/Humanoids57100.2023.10375226

Train What You Know – Precise Pick-and-Place with Transporter Networks
Sóti, G.; Huang, X.; Wurll, C.; Hein, B.
2023. 2023 IEEE International Conference on Robotics and Automation (ICRA), London, United Kingdom, 29 May 2023 - 02 June 2023, 5814 – 5820, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA48891.2023.10161242

KI5GRob: Fusing Cloud Computing and AI for Scalable Robotic System in Production and Logistics
Zhang, Y.; Sóti, G.; Hein, B.; Wurll, C.
2023. Intelligent Autonomous Systems 17 – Proceedings of the 17th International Conference IAS-17. Ed.: I. Petrovic, 706–723, Springer Nature Switzerland. doi:10.1007/978-3-031-22216-0_47

On Scene Engineering and Domain Randomization: Synthetic Data for Industrial Item Picking
Weisenböhler, M.; Hein, B.; Wurll, C.
2023. Intelligent Autonomous Systems 17 – Proceedings of the 17th International Conference IAS-17. Ed.: I. Petrovic, 643–660, Springer Nature Switzerland. doi:10.1007/978-3-031-22216-0_43

Highly Stretchable Additively Manufactured Capacitive Proximity and Tactile Sensors for Soft Robotic Systems
Alshawabkeh, M.; Alagi, H.; Navarro, S. E.; Duriez, C.; Hein, B.; Zangl, H.; Faller, L.-M.
2023. IEEE Transactions on Instrumentation and Measurement, 1. doi:10.1109/TIM.2023.3250232

From environmental exploration to clearance measurement – developing mobile robot systems for decommissioning of nuclear power plants = Von der Umgebungsexploration bis zur Freimessung – Entwicklung mobiler Robotersysteme für den Rückbau kerntechnischer Anlagen
Chen, Z.; Gentes, S.; Hartmann, D.; Hein, B.; Kazemi, S.; Wernke, A.
2022. at - Automatisierungstechnik, 70 (10), 900–911. doi:10.1515/auto-2022-0058

Capacitive Proximity Sensor for Non-Contact Endoscope Localization
Marzi, C.; Alagi, H.; Rau, O.; Hampe, J.; Korvink, J. G.; Hein, B.; Mathis-Ullrich, F.
2022. 2022 International Conference on Robotics and Automation (ICRA), 9614–9620, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA46639.2022.9811734

Additively Manufactured Capacitive Proximity and Tactile Sensors for Soft Robotic Systems
Alshawabkeh, M.; Alagi, H.; Navarro, S. E.; Duriez, C.; Hein, B.; Faller, L.-M.
2022. 2022 IEEE International Instrumentation and Measurement Technology Conference (I2MTC): 16-19 May 2022, Ottawa, ON, Canada, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/I2MTC48687.2022.9806500

Experimental confirmation of efficient island divertor operation and successful neoclassical transport optimization in Wendelstein 7-X
Sunn Pedersen, T.; Abramovic, I.; Agostinetti, P.; Agredano Torres, M.; Äkäslompolo, S.; Alcuson Belloso, J.; Aleynikov, P.; Aleynikova, K.; Alhashimi, M.; Ali, A.; Allen, N.; Alonso, A.; Anda, G.; Andreeva, T.; Angioni, C.; Arkhipov, A.; Arnold, A.; Asad, W.; Ascasibar, E.; Aumeunier, M.-H.; Avramidis, K.; Aymerich, E.; Baek, S.-G.; Bähner, J.; Baillod, A.; Balden, M.; Balden, M.; Baldzuhn, J.; Ballinger, S.; Banduch, M.; Bannmann, S.; Banon Navarro, A.; Bañón Navarro, A.; Barbui, T.; Beidler, C.; Belafdil, C.; Bencze, A.; Benndorf, A.; Beurskens, M.; Biedermann, C.; Biletskyi, O.; Blackwell, B.; Blatzheim, M.; Bluhm, T.; Böckenhoff, D.; Bongiovi, G.; Borchardt, M.; Borodin, D.; Boscary, J.; Bosch, H.; Bosmann, T.; Böswirth, B.; Böttger, L.; Bottino, A.; Bozhenkov, S.; Brakel, R.; Brandt, C.; Bräuer, T.; Braune, H.; Brezinsek, S.; Brunner, K.; Buller, S.; Burhenn, R.; Bussiahn, R.; Buttenschön, B.; Buzás, A.; Bykov, V.; Calvo, I.; Camacho Mata, K.; Caminal, I.; Cannas, B.; Cappa, A.; Carls, A.; Carovani, F.; Carr, M.; Carralero, D.; Carvalho, B.; Casas, J.; Castano-Bardawil, D.; Castejon, F.; Chaudhary, N.; Chelis, I.; Chomiczewska, A.; Coenen, J. 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L.; Tamura, N.; Tancetti, A.; Tantos, C.; Terry, J.; Thienpondt, H.; Thomsen, H.; Thumm, M.; Travere, J. M.; Traverso, P.; Tretter, J.; Trier, E.; Trimino Mora, H.; Tsujimura, T.; Turkin, Y.; Tykhyi, A.; Unterberg, B.; Eeten, P. van; van Milligen, B. P.; van Schoor, M.; Vano, L.; Varoutis, S.; Vecsei, M.; Vela, L.; Velasco, J. L.; Vervier, M.; Vianello, N.; Viebke, H.; Vilbrandt, R.; Vogel, G.; Vogt, N.; Volkhausen, C.; Stechow, A. von; Wagner, F.; Wang, E.; Wang, H.; Warmer, F.; Wauters, T.; Wegener, L.; Wegner, T.; Weir, G.; Wenzel, U.; White, A.; Wilde, F.; Wilms, F.; Windisch, T.; Winkler, M.; Winter, A.; Winters, V.; Wolf, R.; Wright, A. M.; Wurden, G. A.; Xanthopoulos, P.; Xu, S.; Yamada, H.; Yamaguchi, H.; Yokoyama, M.; Yoshinuma, M.; Yu, Q.; Zamanov, M.; Zanini, M.; Zarnstorff, M.; Zhang, D.; Zhou, S.; Zhu, J.; Zhu, C.; Zilker, M.; Zocco, A.; Zohm, H.; Zoletnik, S.; Zsuga, L.
2022. Nuclear Fusion, 62 (4), Article no: 042022. doi:10.1088/1741-4326/ac2cf5

HIRO: Heuristics Informed Robot Online Path Planning Using Pre-computed Deterministic Roadmaps
Huang, X.; Sóti, G.; Zhou, H.; Ledermann, C.; Hein, B.; Kröger, T.
2022. 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 23-27 October 2022, 8109–8116, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS47612.2022.9981740

Evaluation of On-Robot Capacitive Proximity Sensors with Collision Experiments for Human-Robot Collaboration
Alagi, H.; Ergun, S.; Ding, Y.; Huck, T. P.; Thomas, U.; Zangl, H.; Hein, B.
2022. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Kyoto, Japan, 23rd - 27th October 2022, 6716–6723, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS47612.2022.9981490

Multi-level optimization approach for multi-robot manufacturing systems
Ye, X.; Shen, W.; Mamaev, I.; Bertram, T.; Bryg, M.; Schwartz, M.; Hohmann, S.; Asfour, T.; Hein, B.; Kipfmueller, M.; Kotschenreuther, J.
2022. 54th International Symposium on Robotics : (ISR Europe 2022) : 20-21 June 2022, Munich, Germany, 1–8, VDE Verlag

Proximity Perception in Human-Centered Robotics: A Survey on Sensing Systems and Applications
Escaida Navarro, S.; Muhlbacher-Karrer, S.; Alagi, H.; Zangl, H.; Koyama, K.; Hein, B.; Duriez, C.; Smith, J. R.
2022. IEEE transactions on robotics, 38 (3), 1599–1620. doi:10.1109/TRO.2021.3111786

Publisher Correction: Demonstration of reduced neoclassical energy transport in Wendelstein 7-X
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Autonomous Planning and Intraoperative Augmented Reality Navigation for Neurosurgery
Kunz, C.; Hlavac, M.; Schneider, M.; Pala, A.; Henrich, P.; Jickeli, B.; Worn, H.; Hein, B.; Wirtz, R.; Mathis-Ullrich, F.
2021. IEEE Transactions on Medical Robotics and Bionics, 3 (3), 738–749. doi:10.1109/TMRB.2021.3091184

Demonstration of reduced neoclassical energy transport in Wendelstein 7-X
W7-X Team; Beidler, C. D.; Smith, H. M.; Alonso, A.; Andreeva, T.; Baldzuhn, J.; Beurskens, M. N. A.; Borchardt, M.; Bozhenkov, S. A.; Brunner, K. J.; Damm, H.; Drevlak, M.; Ford, O. P.; Fuchert, G.; Geiger, J.; Helander, P.; Hergenhahn, U.; Hirsch, M.; Höfel, U.; Kazakov, Y. O.; Kleiber, R.; Krychowiak, M.; Kwak, S.; Langenberg, A.; Laqua, H. P.; Neuner, U.; Pablant, N. A.; Pasch, E.; Pavone, A.; Pedersen, T. S.; Rahbarnia, K.; Schilling, J.; Scott, E. R.; Stange, T.; Svensson, J.; Thomsen, H.; Turkin, Y.; Warmer, F.; Wolf, R. C.; Zhang, D.; Abramovic, I.; Äkäslompolo, S.; Alcusón, J.; Aleynikov, P.; Aleynikova, K.; Ali, A.; Alonso, A.; Anda, G.; Ascasibar, E.; Bähner, J. P.; Baek, S. 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2021. Nature <London>, 596 (7871), 221–226. doi:10.1038/s41586-021-03687-w

Grasp Detection for Robot to Human Handovers Using Capacitive Sensors
Mamaev, I.; Kretsch, D.; Alagi, H.; Hein, B.
2021. 2021 IEEE International Conference on Robotics and Automation (ICRA), Xi’an, China, 30 May-5 June 2021, 12552–12558, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA48506.2021.9560970

A Unified Perception Benchmark for Capacitive Proximity Sensing Towards Safe Human-Robot Collaboration (HRC)
Ergun, S.; Ding, Y.; Alagi, H.; Schoffmann, C.; Ubezio, B.; Soti, G.; Rathmair, M.; Muhlbacher-Karrer, S.; Thomas, U.; Hein, B.; Hofbaur, M.; Zangl, H.
2021. 2021 IEEE International Conference on Robotics and Automation (ICRA), Xi’an, China, 30 May-5 June 2021, 3634–3640, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA48506.2021.9561224

AQT - A Query Template for AutomationML
Hua, Y.; Hein, B.
2021. IEEE transactions on industrial informatics, 17 (2), 1018–1028. doi:10.1109/TII.2020.2989125

A Model-Based Sensor Fusion Approach for Force and Shape Estimation in Soft Robotics
Navarro, S. E.; Nagels, S.; Alagi, H.; Faller, L.-M.; Goury, O.; Morales-Bieze, T.; Zangl, H.; Hein, B.; Ramakers, R.; Deferme, W.; Zheng, G.; Duriez, C.
2020. IEEE Robotics and automation letters, 5 (4), 5621–5628. doi:10.1109/LRA.2020.3008120

Grasp Area Detection of Unknown Objects based on Deep Semantic Segmentation
Hopfgarten, P.; Auberle, J.; Hein, B.
2020. 2020 IEEE 16th International Conference on Automation Science and Engineering (CASE), 804–809, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/CASE48305.2020.9217014

What the HoloLens Maps Is Your Workspace: Fast Mapping and Set-up of Robot Cells via Head Mounted Displays and Augmented Reality
Puljiz, D.; Krebs, F.; Bosing, F.; Hein, B.
2020

Teleoperation with Tactile Feedback based on a Capacitive Proximity Sensor Array
Alagi, H.; Navarro, S. E.; Hergenhan, J.; Music, S.; Hein, B.
2020. 2020 IEEE International Instrumentation and Measurement Technology Conference (I2MTC), 1–6, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/I2MTC43012.2020.9128701

Control of a smart walker for training using interaction-energy and personalized parameters
Stogl, D.; Zumkeller, D.; Muth, M.; Hein, B.
2020. 21th IFAC World Congress. Ed.: R. Findeisen, 10154–10161, Elsevier. doi:10.1016/j.ifacol.2020.12.2742

What the hololens maps is your workspace: Fast mapping and set-up of robot cells via head mounted displays and augmented reality
Puljiz, D.; Krebs, F.; Bosing, F.; Hein, B.
2020. 2020 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 24 October - 24 January 2021, online, 11445–11451, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS45743.2020.9340879

A Modular Deep Learning Architecture for Anomaly Detection in HRI
Sóti, G.; Mamaev, I.; Hein, B.
2020. Interactive Collaborative Robotics – 5th International Conference, ICR 2020, St Petersburg, Russia, October 7-9, 2020, Proceedings. Ed.: A. Ronzhin, 295–307, Springer International Publishing. doi:10.1007/978-3-030-60337-3_29

A Concept for a HRC Workspace Using Proximity Sensors
Mamaev, I.; Alagi, H.; Sóti, G.; Hein, B.
2020. Interactive Collaborative Robotics : 5th International Conference, ICR 2020, St Petersburg, Russia, October 7-9, 2020, Proceedings. Ed.: A. Ronzhin, 1–12, Springer International Publishing. doi:10.1007/978-3-030-60337-3_1

Augmented Reality in the Operating Room for Neurosurgical Interventions
Kunz, C.; Mathis-Ullrich, F.; Hein, B.
2020. The Upper-Rhine Artificial Intelligence Symposium, 13th May, Karlsruhe

Rapid Restart Hill Climbing for Learning Description Logic Concepts
Hua, Y.; Hein, B.
2020. 29th International Conference on Inductive Logic Programming, ILP 2019, Plovdiv, Bulgaria, 3 - 5 September 2019, 46–61, Springer-Verlag. doi:10.1007/978-3-030-49210-6_5

Robot-Based Machining of Unmodeled Objects via Feature Detection in Dense Point Clouds
Hartmann, D.; Mende, M.; Stogl, D.; Hein, B.; Kroger, T.
2019. IEEE/RSJ International Conference on Intelligent Robots and Systems, November 4 - 8, 2019, The Venetian Macao, Macau, China, 7777–7783, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS40897.2019.8968060

Spatial Control Actions for a Physical Training with a Smart Walker
Stogl, D.; Wern, P.; Hein, B.; Hartmann, D.
2019. 2019 International Symposium ELMAR, Zadar, Croatia, 23-25 Sept. 2019, 131–134, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ELMAR.2019.8918658

Metric-based evaluation of fiducial markers for medical procedures
Kunz, C.; Genten, V.; Meissner, P.; Hein, B.
2019. Medical Imaging 2019: Image-Guided Procedures, Robotic Interventions, and Modeling, San Diego, CA, February 16-21, 2019. Ed.: B. Fei, 97, Society of Photo-optical Instrumentation Engineers (SPIE). doi:10.1117/12.2511720

Robot-Based Training for People With Mild Cognitive Impairment
Stogl, D.; Armbruster, O.; Mende, M.; Hein, B.; Wang, X.; Meyer, P.
2019. IEEE Robotics and automation letters, 4 (2), 1916–1923. doi:10.1109/LRA.2019.2898470

Evaluation of domain randomization techniques for transfer learning
Grün, S.; Honinger, S.; Scheikl, P. M.; Hein, B.; Kröger, T.
2019. 19th International Conference on Advanced Robotics (ICAR), Belo Horizonte, Brasil, December 02-06, 2019, 481–486, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICAR46387.2019.8981654

General Hand Guidance Framework using Microsoft HoloLens
Puljiz, D.; Stohr, E.; Riesterer, K. S.; Hein, B.; Kroger, T.
2019. 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 5185–5190, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS40897.2019.8967649

Overview of a robot for a neuromuscular training - Robotrainer
Stogl, D.; Hein, B.; Mende, M.
2019. Proceedings of the European Conference on Mobile Robots (ECMR 2019), Praha, CZ, September 4-6, 2019. Ed.: L. Preucil, Article No.8870955, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ECMR.2019.8870955

Fast Volumetric Auto-Segmentation of Head CT Images in Emergency Situations for Ventricular Punctures
Kunz, C.; Henrich, P.; Scheikl, P. M.; Hlavac, M.; Schneider, M.; Heinz, W.; Hein, B.; Mathis-Ullrich, F.
2019. CURAC 2019 - 18. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie, Reutlingen, 19. - 21. September 2019. Hrsg.: O. Burgert, 41–46, Hochschule

ROBDEKON: Robotic Systems for Decontamination in Hazardous Environments
Petereit, J.; Beyerer, J.; Asfour, T.; Gentes, S.; Hein, B.; Hanebeck, U. D.; Kirchner, F.; Dillmann, R.; Gotting, H. H.; Weiser, M.; Gustmann, M.; Egloffstein, T.
2019. IEEE International Symposium on Safety, Security, and Rescue Robotics (SSRR 2019), Würzburg, September 2-4, 2019, 249–255, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/SSRR.2019.8848969

Augmented reality-assisted ventricular puncture with marker-based scene registration
Kunz, C.; Schneider, M.; Hlavac, M.; Zenth, D.; Pylatiuk, C.; Hein, B.
2019. International journal of computer assisted radiology and surgery, 14 (Suppl. 1), S151-S152

Human intention estimation based on hidden Markov model motion validation for safe flexible robotized warehouses
Petković, T.; Puljiz, D.; Marković, I.; Hein, B.
2019. Robotics and computer integrated manufacturing, 57, 182–196. doi:10.1016/j.rcim.2018.11.004

Towards a Real-Time Environment Reconstruction for VR-Based Teleoperation Through Model Segmentation
Kohn, S.; Blank, A.; Puljiz, D.; Zenkel, L.; Bieber, O.; Hein, B.; Franke, J.
2018. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Madrid, E, October 1-5, 2018, 1–9, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS.2018.8594053

Model-Free Grasp Planning for Configurable Vacuum Grippers
You, F.; Mende, M.; Stogl, D.; Hein, B.; Kroger, T.
2018. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018), Madrid, E, October 1-5, 2018, 4554–4561, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS.2018.8594227

Material Recognition Using a Capacitive Proximity Sensor with Flexible Spatial Resolution
Alagi, H.; Heiligl, A.; Navarro, S. E.; Kroegerl, T.; Hein, B.
2018. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Madrid, Spain, 1-5 Oct. 2018, 6284–6290, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS.2018.8593789

Concept Learning in AutomationML with Formal Semantics and Inductive Logic Programming
Hua, Y.; Hein, B.
2018. 2018 IEEE 14th International Conference on Automation Science and Engineering (CASE), München, 20. - 24. August 2018, 1542–1547, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/COASE.2018.8560541

Implementation of Augmented Reality in Autonomous Warehouses: Challenges and Opportunities
Puljiz, D.; Gorbachev, G.; Hein, B.
2018. VAM-HRI 2018 Workshop Proceedings

Concept learning in engineering based on refinement operator
Hua, Y.; Hein, B.
2018. Up-and-Coming and Short Papers of the 28th International Conference on Inductive Logic Programming (UCS-ILP 2018) Ferrara, I, September 2-4, 2018, 76–83, RWTH Aachen

A System for Augmented Reality Guided Ventricular Puncture Using a HoloLens: Design, Implementation and Initial Evaluation
Kunz, C.; Hlavac, M.; Schneider, M.; Hein, B.; Puljiz, D.; Peikert, S.
2018. CURAC 2018 - Tagungsband : 17. Jahrestagung der Deutschen Gesellschaft für Computer- und Roboterassistierte Chirurgie e.V. : 13.-15. September 2018, Leipzig. Hrsg: T. Neumuth, 132–137, Universität Leipzig

Adaptive particle filter for localization problem in service robotics
Heilig, A.; Mamaev, I.; Hein, B.; Malov, D.
2018. Proceedings of the 13th International Conference on Electromechanics and Robotics "Zavalishin’s Readings", St. Petersburg, Russia, 18th - 21st April 2018, Art.Nr. 01004, EDP Sciences. doi:10.1051/matecconf/201816101004

Tracking, reconstruction and grasping of unknown rotationally symmetrical objects from a conveyor belt
Stogl, D.; Zumkeller, D.; Navarro, S. E.; Heilig, A.; Hein, B.
2018. 2017 22nd IEEE International Conference on Emerging Technologies and Factory Automation, Limassol, Cyprus, 12th - 15th September 2017, 1–8, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ETFA.2017.8247651

Machine Learning for Capacitive Proximity Sensor Data
Madani, B.; Alagi, H.; Hein, B.; Arntzen, A. A.
2017. Proceedings of the Society for Design and Process Science Transformative Research and Education through Transdisciplinary MeansTM. Ed.: L. Jololian, 214–219, Society for Design and Process Science

Modulare und Wandlungsfähige Robotersysteme: Modellbasierte Softwareentwicklung basierend auf AutomationML und ontologischer Semantik
Hua, Y.; Mende, M.; Hein, B.
2017. Industrie 4.0 Management, (6), 33–37

Flexible Spatial Resolution for Preshaping with a Modular Capacitive Tactile Proximity Sensor
Escaida Navarro, S.; Alagi, H.; Heilig, A.; Mende, M.; Hein, B.
2016. IROS 2016 : 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems : October 9-14, 2016, Daejeon Convention Center, Daejeon, Korea, 3–5, Institute of Electrical and Electronics Engineers (IEEE)

From AutomationML to ROS: A model-driven approach for software engineering of industrial robotics using ontological reasoning
Hua, Y.; Zander, S.; Bordignon, M.; Hein, B.
2016. 2016 IEEE 21st International Conference on Emerging Technologies and Factory Automation (ETFA), Berlin, Germany, 6–9 September 2016, 1–8, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ETFA.2016.7733579

3D contour following for a cylindrical end-effector using capacitive proximity sensors
Navarro, S. E.; Koch, S.; Hein, B.
2016. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Daejeon, South Korea, 9–14 October 2016, 82–89, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS.2016.7759038

Design of exo-legs exoskeletons
Virk, G. S.; Haider, U.; Nyoman, I.; Masud, N.; Mamaev, I.; Hopfgarten, P.; Hein, B.
2016. Assistive robotics : 18th International Conference on Climbing and Walking Robots (CLAWAR) ; Hangzhou, Zhejiang, China, 2015.09.06-09, 59–66, World Scientific Publishing

A versatile and modular capacitive tactile proximity sensor
Alagi, H.; Navarro, S. E.; Mende, M.; Hein, B.
2016. 24th IEEE Haptics Symposium 2016, HAPTICS 2016; Philadelphia; United States; 8 April 2016 through 11 April 2016. Ed.: S. Choi, 290–296, IEEE Computer Society. doi:10.1109/HAPTICS.2016.7463192

A Haptic Display for Tactile and Kinesthetic Feedback in a CHAI 3D Palpation Training Scenario
Hergenhan, J.; Rutschke, J.; Uhl, M.; Navarro, S. E.; Hein, B.; Wörn, H.
2016. IEEE International Conference on Robotics and Biomimetics, IEEE-ROBIO 2015; Zhuhai Dehan HotelNo.2 Jida RoadZhuhai; China; 6 December 2015 through 9 December 2015, 291–296, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ROBIO.2015.7418782

Telemanipulation with Force-based Display of Proximity Fields
Navarro, S. E.; Heger, F.; Putze, F.; Beyl, T.; Schultz, T.; Hein, B.
2015. 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), Sept. 28 2015-Oct. 2 2015, Hamburg, Germany. Ed.: W. Burgard, 4568–4574, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS.2015.7354027

MAFRO: Ein semi-autonomes Manipulatorsystem für die Dekontamination und das Freimessen von Oberflächen
Kern, P.; Gentes, S.; Notheis, S.; Mende, M.; Hein, B.; Wörn, H.
2015. Tagungsband, Proceedings KONTEC 2015 : 12th International Symposium "Conditioning of Radioactive Operational & Decommissioning Wastes" = 12. Internationales Symposium "Konditionierung Radioaktiver Betriebs- und Stilllegungsabfälle", Dresden, Germany, 25 - 27 März 2015 ; einschließlich 12. Statusbericht des BMBF "Stilllegung und Rückbau kerntechnischer Anlagen" 25.-27.03.2015, Dresden, CD-ROM

Capacitive Tactile Proximity Sensing: From Signal Processing to Applications in Manipulation and Safe Human-Robot Interaction
Escaida Navarro, S.; Hein, B.; Wörn, H.
2015. Soft robotics : transferring theory to application. Part II. Ed.: A. Verl, 54–65, Springer-Verlag

MAFRO: Ein semi-autonomens Manipulatorsystem für die Dekontamination und das Freimessen von Oberflächen
Kern, P.; Gentes, S.; Notheis, S.; Mende, M.; Hein, B.; Wörn, H.
2015. KONTEC 2015 : 12.Internationales Symposium ’Konditionierung radioaktiver Betriebs- und Stilllegungsabfälle’, Dresden, 25.-27.März 2015

Forschungsprojekt - Manipulatorgesteuertes Freimessen von Oberflächen (MAFRO)
Kern, P.; Gentes, S.; Notheis, S.; Mende, M.; Hein, B.; Wörn, H.
2015. KONTEC 2015 : 12.Internationales Symposium ’Konditionierung radioaktiver Betriebs- und Stilllegungsabfälle’, Dresden, 25.-27.März 2015

Plug&Produce by Modelling Skills and Service-Oriented Orchestration of Reconfigurable Manufacturing Systems = Plug & Produce mittels der Modellierung von Fähigkeiten und der service-orientierten Orchestrierung rekonfigurierbarer Produktionssysteme
Pfrommer, J.; Stogl, D.; Aleksandrov, K.; Escaida Navarro, S.; Hein, B.; Beyerer, J.
2015. at - Automatisierungstechnik, 63 (10), 790–800. doi:10.1515/auto-2014-1157

Intelligente Heinzelmännchen - Das "SkillPro" Forschungsprojekt - Beitrag bei Radio KIT am 04.09.2014
Pokorny, M.; Hein, B.
2014. doi:10.5445/DIVA/2014-709

A semi-autonomous manipulator system for decontamination and release measurement
Mende, M.; Notheis, S.; Stogl, D.; Hein, B.; Wörn, H.; Kern, P.; Gentes, S.
2014. 17th International Conference on Climbing and Walking Robots and the Support Technologies for Mobile Machines, CLAWAR 2014, Poznan, Poland; 21 - 23 July, 2014, 125–132, World Scientific Publishing. doi:10.1142/9789814623353_0015

AutomationML to describe skills of production plants based on the PPR concept
Schleipen, M.; Pfrommer, J.; Stogl, D.; Hein, B.; Aleksandrov, K.; Escaida Navarro, S.; Beyerer, J.
2014. 3rd AutomationML User Conference, Blumberg, October 7-8, 2014

A Technical system for physical activation of persons with mild cognitive impairment
Stogl, D.; Hein, B.; Meyer, P.; Armbruster, O.; Irgenfried, S.; Wörn, H.
2014. Technische Unterstützung für Menschen mit Demenz : Symposium 30.09. - 01.10.2013. Hrsg.: T. Schultz, 123–143, KIT Scientific Publishing

Tracking and Grasping of Known and Unknown Objects from a Conveyor Belt
Escaida Navarro, S.; Weiss, D.; Stogl, D.; Milev, D.; Hein, B.
2014. 41st International Symposium on Robotics (ISR/Robotik’14), München, June 2-3, 2014, 1–8, VDE Verlag

Modelling and Orchestration of Service-Based Manufacturing Systems via Skills
Pfrommer, J.; Stogl, D.; Aleksandrov, K.; Schubert, V.; Hein, B.
2014. IEEE Emerging Technology and Factory Automation (ETFA’14), Barcelona, Spain, September 16-19, 2014, 1–4, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ETFA.2014.7005285

Evaluation of a method for intuitive telemanipulation based on view-dependent mapping and inhibition of movements
Notheis, S.; Hein, B.; Worn, H.
2014. IEEE International Conference on Robotics and Automation (ICRA’14), Hong Kong, China, May 31 - June 7, 2014, 5965–5970, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/ICRA.2014.6907738

Environment modeling and path planning for a semi-autonomous manipulator system for decontamination and release measurement
Mende, M.; Notheis, S.; Stogl, D.; Hein, B.; Worn, H.; Kern, P.; Gentes, S.
2014. World Automation Congress (WAC’14), Waikoloa, Hawaii/USA, August 3-7, 2014, 54–59, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/WAC.2014.6935654

6D proximity servoing for preshaping and haptic exploration using capacitive tactile proximity sensors
Escaida Navarro, S.; Schonert, M.; Hein, B.; Worn, H.
2014. IEEE/RSJ Intelligent Robots and Systems (IROS’14), Chicago, Illionois/USA, September 14-18, 2014, 7–14, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS.2014.6942533

System Concept for Collision : Free Robot Assisted Surgery Using Real-Time Sensing
Raczkowsky, J.; Nicolai, P.; Hein, B.; Wörn, H.
2013. Frontiers of Intelligent Autonomous Systems. Ed.: S. Lee, 391–399, Springer-Verlag. doi:10.1007/978-3-642-35485-4_34

View-dependent Mapping and Inhibition of Movements for Intuitive Telemanipulation
Notheis, S.; Hein, B.; Wörn, H.
2013. 1st Workshop on Industrial Mobile Assistance Robots (IMAR’13), Karlsruhe, June 6, 2013

Partial View Geometric Reconstruction of Objects with Rotational and Planar Symmetries for Grasping Tasks
Escaida Navarro, S.; Gräter, J.; Pauer, H.; Hein, B.; Wörn, H.
2013. 16th International Conference on Advanced Robotics (ICAR’13), Montevideo, Uruguay, November 25-29, 2013

View-dependent Mapping and Inhibition of Movements for Intuitive Telemanipulation
Notheis, S.; Hein, B.; Wörn, H.
2013. IEEE International Conference on Robotics and Automation (ICRA’13), Karlsruhe, May 6-10, 2013

Methods for safe human-robot-interaction using capacitive tactile proximity sensors
Navarro, S. E.; Marufo, M.; Ding, Y.; Puls, S.; Goger, D.; Hein, B.; Worn, H.
2013. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS’13), Tokyo, Japan, November 3-7, 2013, 1149–1154, Institute of Electrical and Electronics Engineers (IEEE). doi:10.1109/IROS.2013.6696495

Towards an Autonomous Manipulator System for Decontamination and Release Measurement
Notheis, S.; Kern, P.; Mende, M.; Hein, B.; Wörn, H.; Gentes, S.
2012. 2012 IEEE/ASME International Conference on Mechatronics and Embedded Systems and Applications (MESA), 8-10 July 2012, 263–268, IEEE Computer Society

Efficient Monitoring of Process Plants by Telepresence and Attention Guidance
Connette, C.; Arbeiter, G.; Meßmer, F.; Hägele, M.; Verl, A.; Notheis, S.; Mende, M.; Hein, B.; Wörn, H.
2012. Proceedings for the conference of ROBOTIK 2012, 7th German Conference on Robotics, 21 - 22 May 2012, International Congress Center Munich (ICM) in conjunction with AUTOMATICA, 1–4, VDE Verlag

AR-based Approach for Evaluation of new Model-based Control Algorithms
Notheis, S.; August, W.; Hein, B.; Wörn, H.
2012. Proceedings for the conference of ROBOTIK 2012, 7th German Conference on Robotics, 21 - 22 May 2012, International Congress Center Munich (ICM) in conjunction with AUTOMATICA, 1–5, VDE Verlag

3D Pendulum Swinging Control by an Industrial Robot Manipulator
August, W.; Ren, J.; Notheis, S.; Haase, T.; Hein, B.; Wörn, H.
2011. Proceedings for the joint conference of ISR 2010 (41st Internationel Symposium on Robotics) und ROBOTIK 2010 (6th German Conference on Robotics), 7-9 June 2010, 1–7, VDE Verlag

Accurate Object Throwing by an Industrial Robot Manipulator
August, W.; Wäldele, S.; Hein, B.; Wörn, H.
2010. Proceedings of the Australasian Conference on Robotics and Automation 2010, ACRA 10, Brisbane, Australia, 1st - 3rd December 2010. Ed.: G. Wyeth, 74–81, Curran

Skill-based telemanipulation by means of intelligent robots
Notheis, S.; Milighetti, G.; Hein, B.; Wörn, H.; Beyerer, J.
2010. Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International Conference on; 18-22 Oct. 2010, 5258–5263, IEEE Computer Society

A Real-Time Wearable Projector-Wiimote-System for Augmented Reality Interaction Scenarios on Plane Objects
Steiger, A.; Hein, B.; Wörn, H.
2010. Robotics (ISR), 2010 41st International Symposium on and 2010 6th German Conference on Robotics (ROBOTIK), 1–6, IEEE Computer Society

Modellgestützte Online-Programmierverfahren für Industrieroboter. Habilitation
Hein, B.
2010. Karlsruher Institut für Technologie (KIT)

Intuitive Robotersteuerung mit Inertialsensorik - Einsatzmöglichkeiten neuartiger integrierter inertialer MEMS-Sensoren für Eingabegeräte in der Service- und Industrierobotik
Steiger, A.; Mende, M.; Hein, B.; Wörn, H.
2008. Robotik 2008, 287–290

Modellbasierte Erweiterte Realität in der Industrierobotik mittels kostengünstiger Hardwarekomponenten
Notheis, S.; Hein, B.; Wörn, H.
2007. Virtuelle und Erweiterte Realität, 4. Workshop der GI-Fachgruppe VR/AR, Weimar, Deutschland, 15. Juli 2007. Hrsg.: M. E. Latoschik, 169–180

Miniaturized Laser Projector for Mixed Reality : Augmentation Scenarios for Medical and Industrial Robot Programming
Kahrs, L. A.; Steiger, A.; Notheis, S.; Hein, B.; Jörg Raczkowsky; Wörn, H.
2007. Virtuelle und Erweiterte Realität, 4. Workshop der GI-Fachgruppe VR/AR, Weimar, Deutschland, 15. Juli 2007. Hrsg.: M. E. Latoschik, 93–100

Using Acceleration Compensation to Reduce Liquid Surface Oscillation During a High Speed Transfer
Jen Chen, S.; Hein, B.; Wörn, H.
2007. 2007 IEEE International Conference on Robotics and Automation, 10-14 April 2007, 2951–2956, IEEE Computer Society

Swing Attenuation of Suspended Objects Transported by Robot Manipulator Using Acceleration Compensation
Jen Chen, S.; Hein, B.; Wörn, H.
2007. Intelligent Robots and Systems, 2007. IROS 2007. IEEE/RSJ International Conference on, Oct. 29 2007-Nov. 2 2007, 2919–2924, IEEE Computer Society

Industrial Robots
Hein, B.; Wörn, H.
2006. Guidance and Control of Autonomous Systems : Readings of the DAAD-German Summer Academy, Duisburg, Germany, 18th July - 6th August 2005. Ed.: D. Söffker, 62–128, Logos Verlag Berlin

Fast hierarchical A(asterisk) path planning for industrial robots based on efficient use of distance computations
Hein, B.; Wörn, H.
2006. Proceedings of the Joint Conference on Robotics / ISR 2006, 37th International Symposium on Robotics (ISR 2006) and 4th German Conference on Robotics (ROBOTIK 2006), Munich, Germany, 15th - 18th May 2006, 17, VDI Verlag

Applying Acceleration Compensation to Minimize Liquid Surface Oscillation
Chen, S. J.; Hein, B.; Wörn, H.
2006. Proceedings of the Australasian Conference on Robotics & Automation, ACRA 2006, Auckland, New Zealand, 6th - 8th December 2006. Ed.: B. MacDonald

Roboterprogrammierung in der Fertigung : Einfache Roboterprogrammierung für die Produktion von morgen (Ergebnisse des IRoProg Projekts)
Denkena, B.; Wörn, H.; Apitz, R.; Bischoff, R.; Hein, B.; Kowalski, P.; Mages, D.; Schuler, H.
2005. wt Werkstattstechnik online, 95 (9), 656–660

Combining manual haptic path planning of industrial robots with automatic path smoothing
Wörn, H.; Hein, B.; Mages, D.; Denkena, B.; Apitz, R.; Kowalski, P.; Reimer, N.
2005. Proceedings of the 2nd International Conference on Informatics in Control, Automation and Robotics, ICINCO 2005, Volume IV, Barcelona, Spain, 14th - 17th September 2005, INSTICC Press

Introduction of additional information to heuristic path planning algorithms
Mages, D.; Hein, B.; Wörn, H.
2004. Proceedings of the IEEE Conference on Mechtronics and Robotics 2004, Aachen, Germany, 26th - 31st August 2004, 1023–1028, Institute of Electrical and Electronics Engineers (IEEE)

Angenäherte Abstandstransformation vom Arbeitsraum in den Konfigurationsraum von Robotern mit serieller Kinematik
Mages, D.; Hein, B.; Wörn, H.
2004. Tagungsband der VDI / VDE-Fachtagung Robotik 2004 : Leistungsstand - Anwendungen - Visionen - Trends, München, Deutschland, 17. - 18. Juni 2004, VDI Verlag

Automatische offline Programmierung von Industrierobotern in der virtuellen Welt. Dissertation
Hein, B.
2003. Herdecke 2003. (Forschen und Wissen - Robotik.) Fak. f. Informatik, Diss. v. 14.7.2003., Universität Karlsruhe (TH)

Automated generated collision-free time optimized robot movements in industrial environments based on rounding
Hein, B.; Salonia, M.; Wörn, H.
2001. Assembly and Task Planning, 2001, Proceedings of the IEEE International Symposium on, 110–115, IEEE Computer Society