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Technical University of Munich
Technical University of Munich

Picture of Gordon Cheng

Prof. Dr. Gordon Cheng

Technical University of Munich

Chair of Cognitive Systems (Prof. Cheng)

Postal address

Postal:
Karlstraße 45/II
80333 München

https://orcid.org/0000-0003-0770-8717

Gordon Cheng has made pioneering contributions in Humanoid Robotics, Neuroengineering, Artificial Intelligence for the past 20 years. Since 2010, Gordon Cheng has been holding the Chair for Cognitive Systems, which he also founded. The Chair for Cognitive Systems is part of the Department of Electrical and Computer Engineering at Technical University of Munich (TUM), Munich/Germany.

Gordon Cheng is also the Head of the CoC for Neuro-Engineering - Center of Competence Neuro-Engineering in the Department of Electrical and Computer Engineering. Since 2016, he has been the Program Director of the Elite Master of Science program in Neuroengineering (MSNE) of the Elite Network of Bavaria, a unique study program in Germany.

Formerly, he was the Head of the Department of Humanoid Robotics and Computational Neuroscience, ATR Computational Neuroscience Laboratories, Kyoto, Japan. He was the Group Leader for the JST International Cooperative Research Project (ICORP), Computational Brain. He has also been designated as a Project Leader/Research Expert for National Institute of Information and Communications Technology (NICT) of Japan. He is involved in a large number of major European Union Projects (e.g. RoboCub, Factory-in-a-Day, CONTEST-ITN, RoboCom-Flagship).

Gordon Cheng is the co-inventor of approximately 20 patents and author of approximately 300 technical publications, proceedings, editorials and book chapters. In 2014, he published the book "Humanoid Robotics and Neuroscience: Science, Engineering and Society". This interdisciplinarity has also been acknowledge by the IEEE, when being named IEEE Fellow in 2017 for his “contributions in humanoid robotic systems and neurorobotics”.

His research interests include: NeuroRobotics, Humanoid Robotics, Imitation Learning, Cognitive Systems, NeuroEngineering

Research highlights

Humanoid Robots Prof. Cheng developed over the years (Jack, i-1, ad CB-i).

Humanoid Robotics: Over the past 20 years, Prof. Cheng developed a number of highly sophisticated humanoid robots. One of the key distinctive features of these robots was in their ability to be controlled by forces, since new and novel control schemes were needed to perform high-performance tasks (walking and balancing) (Cheng, Nagakubo et al. 2001, Nagakubo, Kuniyoshi et al. 2003, Cheng, Hyon et al. 2007). Only seven years after his work, DLR (German Aerospace Agency) produced a similar robot, DLR TORO (Ott, Roa et al. 2016). Also, the latest robots from Boston Dynamics have similar performance.

In his earlier works, he exploited the capabilities of these advanced robotic systems for reproducing human behaviours and rich human-robot interactions. This line of research moved beyond the reproduction of human-like behaviours, also accounting the scientific understanding of the underlying processes in humans, while advancing state-of-the-art techniques (e.g. 30+DOFs torque controllable joints). The robots i-1 and CBi were developed accordingly  (Cheng, Hyon et al. 2007). During those times, new advancements at many levels were made, for instance, producing new advanced walking controllers, especially novel centre patterns generators (CPG) (Cheng, Hyon et al. 2007). These works and projects yielded a large number of publications and patents.

Robots covered with multi-model tactile skin. © A. Eckert / TUM.

Artificial Robotic Skin: In the 10 recent years, Prof. Cheng worked on the novel development of a comprehensive robot skin system (Cheng, Dean-Leon et al. 2019), the first ever complete robot skin system for robots. The significance of this work is in the way that the skin system provides human-like sense of touch, in a multi-modal (temperature, touch, acceleration, proximity) manner, self-configuring, with a function of auto determining  its own locations, low-computation, enabling a fully auto configurable robot skin system that can be deployed on large surfaces of robots (we have deployed this on two different robots. Recently, this was demonstrated on a first fully autonomous humanoid robot (Cheng, Dean-Leon et al. 2019) and he and his team applied this state-of-the-art technology to several application domains: from industrial factory robots to medical robots (such as an exoskeleton (Donati, Shokur et al. 2016)).

An exoskeleton robot in the kick-off of the FIFA world cup (Donati, Shokur et al. 2016)

NeuroEngineering/Neurorobotics: Bringing together several fields and moving more toward applications in medicine, his research takes a closer alignment to NeuroScience, in particular following a NeuroEngineering approach (Cheng, Ehrlich et al. 2020). One example here is the Walk Again Project, in which he leads the robotics/technology parts. The project targets the realization of a brain-machine-interface exoskeleton robot that provides tactile sensory feedback to paraplegic (Spinal Cord Injury) patients and has shown to induce partial neurological recovery for these patients (Donati, Shokur et al. 2016). This work was publicly demonstrated when the project succeeded in making the kick-off of the 2014 FIFA world cup. The importance of this research area is that it provides a unique way of combining Neuroscience, AI and Robotics, especially in targeting at improving the quality of life for people.

Current & Previous Positions

2010 to date Full Professor Chair for Cognitive Systems, TUM Department of Electrical and Computer Engineering, Germany
2012 to date Coordinator: Centre of Competence NeuroEngineering, TUM Department of Electrical and Computer Engineering, Germany
2016 to date Program Director of the Elite Master of Science program in Neuroengineering (MSNE) of the Elite Network of Bavaria
2019-2021 The University of Newcastle President's Visiting Fellowship, Australia
2019 Visiting Professorship The University of Hong Kong, Hong Kong
2011 to 2015 Distinguished Visiting Professor of Neuroscience, (ELS-IINN), Brazil
2008 to 2012 Visiting Professor (Mechatronics), Versailles Saint-Quentin-en-Yvelines University (UVSQ), France
2008-2014 CoTeSys Professor (Cognitive Technical Systems), Technische Universität München (TUM), Germany
2008-2011 Visiting Professor (NeuroEngineering), Edmond and Lily Safra International Institute of Neuroscience of Natal (ELS-IINN), Brazil
2007-2008 Project Leader/Research Expert (Non-verbal communication), National Institute of Information and Communications Technology (NICT), Japan
2004-2008 Group Leader (Humanoid Cognitive Systems), Japan Science and Technology Agency (JST), International Cooperative Research Project (JST-ICORP) “Computational Brain”, Japan
2004 Sep Visiting Professor (Computer Science), University of Karlsuhe, Germany
2003-2008 Department Head (Humanoid Robotics and Computational Neuroscience), Department of Humanoid Robotics and Computational Neuroscience, ATR Computational Neuroscience Laboratories, Kyoto, Japan
1995-2006 Managing Director, G.T.i. Computing Pty. Ltd., Sydney, Australia

Education

2001  PhD in Systems Engineering, The Australian National University, Australia.  
1991-1993  Master of Computer Science, University of Wollongong, Australia.  

 

Media articles (selection)

The power of thought, Technologist, July 2014

Exoskeleton Enables Paraplegic Man to Walk, Faszination Forschung, 2014

From Aid to Empowerment,, Faszination Forschung, 2016

Was Roboter beim Abwaschen lernen können, Elektronik Praxis, January 2019

The artificial skin that allows robots to feel, CNN, 11/28/2019

Was Roboter beim Abwaschen lernen können, Elektronikpraxis, 01/25/2019

Blazing a trail: Technology & Science Delievered, 2020

Scientists make artificial skin for robots, taking us one step closer to a world of androids, CNBC, May 2020

Challenges of fusing robotics and neuroscience, Science Daily, December 2020

Fellowships & Awards

2020 2019 Honorable Mention from the IEEE Robotics and Automation Letters for the paper “Predictive Optimization of Assistive Force in Admittance Control-Based Physical Interaction for Robotic Gait Assistance”
2020 “Editor’s Choice Article” in the journal "Sensors" for "Validating Deep Neural Networks for Online Decoding of Motor Imagery Movements from EEG Signals"
2020 Nominated for the International BCI Award 2020
2020 Finalist for the 2020 IROS Best Paper Award on Cognitive Robotics
2019 FA Foundation, Best Research Paper Prize
2019 Advanced Robotics, Best Paper Award
2018 William Mong Distinguished Award – for AI in the real world: from neuroscience to robotic innovations
2018 IEEE Humanoids, Best Paper Award
2017 IEEE Fellow 2017 for contributions in humanoid robotic systems and neurorobotics
2016 Lanillos, P., Emannuel-Dean, L., Cheng, G. (2016), Multisensory Object Discovery via Self-detection and Artificial Attention. IEEE Int. Conf. on Developmental Learning and Epigenetic Robotics (ICDL-EpiRob). Sept 2016 Best paper presentation distinction award
2016 Advanced Robotics (Journal), Best Paper Award
2014 TUM Heinz Maier-Leibnitz Medal “in honour of his outstanding and internationally respected academic achievements at the interface between robotics and neuroscience”.
2014 William Mong Distinguished Award
2007 IEEE Gennai Medal

 

Memberships to Editorial Boards of International Journals

2004 to date Editor, International Journal of Humanoid Robotics
2007 to date Associate Editor, IEEE-RAS International Conference on Robotics and Automation
2008 and 2013 Guest co-editor for Special Issues: International Journal of Humanoid Robotics
2008 Advanced Robotics journal
2007 Journal of Robotics and Autonomous Systems
2005 International Journal of Humanoid Robotics
   

Invited talks & key notes

  • Invited talk, Workshop Series Program, Neural Control: From Data to machines, online, December 2020.
  • Invited talk, Webinar on Flexible Electronic Skin, online, March 2020.
  • Keynote, 9. Robotics Kongress, Hannover, Germany, February 2020.
  • Invited Talk, Global Forum on AI for Humanity, Paris, France, October 2019.
  • Invited Talk, International Symposium on Machine Intelligence for Future Society 2019, Tokyo, Japan, September 2019.
  • Invited Talk, Hamlyn Symposium for Medical Robotics, London, UK, June 2019.
  • Keynote, SKOLKOVO Robotics, Robotics &AI, Moskow, Russia, April 2019.
  • Keynote, SelPhyS, Workshop on applying self-awareness in the design of embedded and cyber-physical systems, Munich, Germany, April 2019.
  • Invited talk, Liesel Beckmann Symposium 2018: Technology, Cognition and Dementia, Munich, Germany, December 2018.
  • Invited Talk SFB 870 Winter Retreat 2018, Kloster Seeon, Germany, December 2018.
  • Invited Talk VDE Tech Summit, Berlin, Germany, November 2018.
  • Invited Talk First International Workshop on Smart Skins, Munich, Germany, November 2018.
  • Invited talk 17. Europäischer Gesundheitskongress Munich, Germany, October 2018.
  • Invited Talk IROS Conference Workshop on "1st Workshop on Proximity Perception in Robotics", Madrid, Spain, October 2018.
  • Keynote Beijing Institute of Technology, Beijing, China, September 2018.
  • Keynote Waseda University, Waseda, Japan, September 2018.
  • Keynote National Institute of Advanced Industrial Science and Technology (AIST), Tsukuba, Japan, September 2018
  • Keynote 27th IEEE International Conference on Robot and Human Interactive Communication, RO-MAN 2018, Nanjing/ China, August 2018
  • Keynote International i.s.h.med live 2018, Barcelona, Spain, June 2018
  • Keynote William Mong Distinguished Lectures in Engineering, The University of Hong Kong, Hong Kong/China June 2018
  • Invited talk Neuroplasticity of Sensory Systems, Gordon Research Conference, Hong Kong, China, June 2018
  • Invited talk 2018 GlobalTech Robotics Workshop, Sydney, Australia, May 2018
  • Invited talk Workshop on 'Robotics and New Digital Skills: European and Australasian Dialogues',  Munich/Germany, May 2018
  • Invited talk DIGITAL CONVENTION 2018, Berlin, Germany, April 2018
  • Keynote speaker, Sky Sport Summit, Munich, Germany, March 2018
  • Keynote speaker, ETIM 2018 Artificial intelligence and robotics, Essen, Germany, February 2018
  • Keynote speaker, 3rd Movement Science Conference, Université de Versailles Saint-Quentin-en-Yvelines, Vélizy-Villacoublay, France, November 2017
  • Keynote speaker, 2. SRH Zukunftskongress, Berlin, Germany, October 2017
  • Keynote speaker, 23. Sportwissenschaftlichen Hochschultag der Deutschen Vereinigung für Sportwissenschaft (dvs), Munich/Germany, September 2017
  • Invited Speaker, 14. Fachschaftstreffen Naturwissenschaften - Konrad Adenauer-Stiftung Bonn, Königswinter, Germany, July 2017
  • Invited Speaker, HauptstadtKongress Gesundheit und Medizin, Berlin, Germany, June 2017
  • Invited Speaker, Tech Trends Symposium - The new Era of Robotics Disruption, Hong Kong, Hong Kong, April 2017
  • Invited Speaker, Workshop Body Image in Robots and in Humans, Paris, France, December 2016
  • Invited Speaker, German - French Winter School Humanoid and Legged Robots, Toulouse, France, December 2016
  • Invited talk, Bremer Universitäts-Gespräche 2016 symposium: Cognition-enabled Robotics: Democratising a Disruptive Technology, Bremen, Germany, November 2016
  • Invited talk, Workshop Robotics in the 21st Century: Challenges and Promises, Göttingen, Germany, October 2016
  • Invited talk, Séminaire sur l'Intelligence Artificielle et les Véhicules à Conduite Déléguée, Versailles, France, September 2016
  • Keynote speaker, Keio University Top Global University Project “TGU Symposium on Smart Connected Cities, Yokohama, Japan, July 2016
  • Invited talk, Workshop "Robots in Human Environments, Laboratoire d’Informatique de Grenoble, Grenoble, France, May 2016
  • Invited talk, DHL Robotics day DHL Innovation Center Troisdorf, Bonn, Germany, April 2016
  • Invited talk, DGKN Congress - Wieder laufen lernen, Düsseldorf, Germany, March 2016
  • Keynote speaker, Forum be flexible Fraunhofer EMFT, Munich, Germany, November 2015   
  • Invited Talk, Robotics Conference Wuxi High Tech manufacturing Association, Wuxi, China, November 2015
  • Keynote speaker, 7th International Conference on Social Robotics (ICSR), Paris, France, October 2015
  • Keynote speaker, 8th International Workshop on Human-Friendly Robotics (HFR 2015), Munich, Germany, October 2015       
  • Invited Talk, Robotics Forum Asia Manufacturing Association, Guangzhou, China, September 2015
  • Invited Talk, Siemens Sommergespräch, Munich, Germany, July 2015
  • Keynote speaker, APAC Innovation Summit Series 2015 - Robotics, Hong Kong, Hong Kong, June 2015
  • Invited Talk, 2nd World Robotics and Intelligent Equipment Industry Conference, Foshan New City, China, June 2015             
  • Keynote speaker, 8. SCHUNK Expert Days on Service Robotics, Lauffen, Germany, February 2015
  • Distinguished Lecture in Robotics, Systems and Control, Zurich, Switzerland, December 2014
  • Invited Talk, NAIST Workshop, Nara, Japan, November 2014
  • Invited Talk, German-Korean KAIST Symposium, Seoul, Korea, September 2014
  • Invited Talk, University of Sidney, Australia, August 2014
  • Invited Talk, University of Hong Kong, August 2014
  • Invited Talk, Launch of "Technologist" in Copenhagen, Denmark, June 2014
  • Invited Talk, GSN Retreat Spitzingsee, Germany, April 2014
  • Invited Talk, University of Tokyo, Japan, March 2014
  • William Mong Distinguished Lecture, Hong Kong, March 2014 
  • Invited Talk, Xperience Project Summer School, Mallorca, Spain, October 2013
  • Keynote speaker, European Students Conference, Berlin, Germany, September 2013
  • Invited Talk, Robots on Tour, Zurich, Switzerland, March 2013
  • Invited Talk, Duke Center of Neuro-Engineering, USA, November 2012
  • Keynote speaker, Alpbach Technology Forum, Austria, August 2012
  • Panel speaker at ZiF workshop on “Alignment in Communication”, Bielefeld, German, July 2012      
  • Keynote speaker, Symposium on Robotic Skill Learning and Cognition, Lund, Sweden, April 2012
  • William Mong Distinguished Lecture, Hong Kong, March 2012
  • Keynote speaker, DRG Tage, Karlsruhe/Germany, October 2011
  • Keynote speaker, Workshop “Philosophy Meets Robotics”, Munich, Germany, September 2011
  • Keynote speaker, 8th Conference on Computing and Philosophy (ecap10) Munich, Germany, October 2010.
  • Keynote speaker, Frontiers in Neuromorphic Computation, Paris, France, June 2010.
  • Keynote speaker, 32nd Annual Conference on Artificial Intelligence (KI2009), Paderborn, Germany. September 2009;
  • Keynote speaker, European Network for the Advancement of Artificial Cognitive Systems meeting, Venice, Italy. November 2008.
  • Keynote speaker, Colloquium on “Cognitive Information Processing”, Munich, Germany. May 2008.
  • Keynote speaker, JNRH 2008, Paris, France. May 2008.
  • Invited lecturer, ESF-JSPS Frontier Science Conference on Robotics, Shonan International Village, Tokyo. March 2008. Keynote speaker, Robotics for Society, February 2007, Vancouver, Canada.
  • Keynote speaker, NATAL Neuroscience, February 2007, Natal, Brazil.
  • Keynote speaker, 2005 IEEE International Conference on Robotics and Automation, Barcelona, Spain, June 2005

National/ International Projects

2019-2020 Coordinator of OpenWalker (H2020)
2017- Host of Prof. Takao Someya as TUM IAS Hans Fischer Senior Fellow
2017- PI of SFB EASE (SFB 1320), Deutsche Forschungsgemeinschaft DFG
2013 - 2017 PI of Factory-in-a-Day (EU FP7 NMP-FoF)
2010 - 2016 PI of CONTEST-ITN (EU FP7 Marie Curie Training Network)
2008 Advisory board member of ITALK (EU FP7)
2007 Member of the working group for InterLink – International Cooperation Activities in Future and Emerging Information and Communication Technologies (ERCIM)
2005 Associated partner of PACO-PLUS, EU Framework 6 project (FP6-2004-IST-4-2.4.8)
2004 Advisory board of ROBOT-CUB, EU Framework 6 project (FP6-2003-IST-2)

Patents

1. Robot apparatus and method of controlling the same, US Patent Publication Number US20070220637 (A1).

2. Robot and attitude control method of robot:  Europe Patent Publication Number EP1510446 (A2); US Patent Publication Number US2005113973 (A1); Korea Patent Publication Number KR20050021288 (A); China Patent Publication Number CN1590039 (A).

3. Robot and attitude control method of robot: Europe Patent EP 1510446 (B1); US Patent US7657345 (B2); China Patent CN100346941 (C); Korea Patent Publication Number KR20050021288 (A).

4. Robot Device and Its Control Method, Japan Patent JP4587699 (B2).

5. Robot Device and Attitude Control Method for Robot, Japan Patent 4587738 (B2).

6. Robot Device and Its Control Method, Japan Patent Publication Number JP2006289602 (A).

7. Method and Device for Learning Phase Reaction Curve, Method and Device for Controlling Cyclic   Movement, and Walking Movement Controller, Japan Patent Publication Number JP2007175860 (A).

8. Robot Device and Its Control Method, Japan Patent Publication Number JP2007210071 (A).

9. Robot apparatus and method of controlling the same, US Patent US7949428 (B2).

10. Driving Method, Driving Control Device and Robot 2007-296618 Japan Patent Publication Number JP2007296618 (A).

11. Driving method, drive control apparatus, and robot, US Patent US7908032 (B2).

Teaching

Courses/Lectures

Projects (Practical Training)

Advanced Seminars

Promotion of alumni

  • Prof. Dr. Barbara Kühnlenz (former ICS-PostDoc) since 2019 Professor at Hochschule Coburg for Business Psychology, Germany.

  • Prof Dr. Pablo Lanillos (former ICS-PostDoc) since 2019 Assistant Professor at Donders Institute for Brain, Cognition and Behaviour, Netherlands.

  • Prof. Dr. Karinne Ramirez-Amaro  (former ICS-PostDoc) since 2019 Assistant Professor at Chalmers University of Technology, Sweden.

  • Prof. Dr. Agnieszka Wykowska (former ICS-PostDoc) since 2016 PI Social Cognition in Human-Robot Interaction, Italian Institute of Technology, Genova/Italy & affiliated with Luleå University of Technology/Sweden as adjunct professor in Engineering Psychology.

  • Prof. Jun Nakanishi (former ICS-PostDoc) since 2018 Associate Professor at Dept. of Mechanical Engineering, Faculty of Science and Technology Meijo University, Nagoya University/Japan.

  • Dr. John Nassour (former ICS-PhD/PostDoc) until 2020  Lecturer and Researcher in Neurorobotics at Artificial Intelligence Professorship at Technical University of Chemnitz/Germany.

  • Prof. Samer Alfayad (former ICS-PostDoc) since 2013 Associate Professor at Versailles ST-Quentin En-Yvelines University/France.

  • Prof. Gen Endo, Associate Professor at Tokyo Institute of Technology/Japan.

  • Dr. Jun Morimoto (former PostDoc), Head of Department of Brain Robot Interface (BRI), ATR Computational Neuroscience Labs/Japan.

Publications

Gordon Cheng: Humanoid Robotics and Neuroscience: Science, Engineering and Society (Frontiers in Neuroengineering Series), 2014.

Humanoid robots are highly sophisticated machines equipped with human-like sensory and motor capabilities. Today we are on the verge of a new era of rapid transformations in both science and engineering—one that brings together technological advancements in a way that will accelerate both neuroscience and robotics. Humanoid Robotics and Neuroscience: Science, Engineering and Society presents the contributions of prominent scientists who explore key aspects of the further potential of these systems.

Upcoming book:

Ravinder Dahiya, Oliver Ozioko, and Gordon Cheng: Sensory Systems for Robotic Applications (The Institution of Engineering and Technology (IET)), forthcoming, 2020/2021.

Sensory systems comprising of various sensing modalities are fundamental to robotics – they provide information about the state of the environment and of the robotic system, which forms the basis for control, decision-making, and interaction. This book will cover robotic sensory hardware, related electronics, and system issues. Topics to be covered include various type of sensors used in robotics (tactile, vision, audio, accelerometers, gyros, force, torque, proximity, lasers, RFID, chemical, temperature, etc.), various sensing schemes (e-skin, tactile skin, e-nose, electronic/bionic eye, textiles, omnidirectional cameras, neuromorphic vision, and touch, etc.), various sensing technologies (solid-state sensors, miniaturized sensors, soft sensors, sensors with local computation, etc.), and system issues (wiring complexity, conformal electronics, power consumption, etc.).

H-index

H-index: 44 (12/2020, Google Scholar)

Selected publications

[1] G. Cheng, S.K. Ehrlich, M. Lebedev, M.A.L. Nicolelis: Neuroengineering challenges of fusing robotics and neuroscience, Science Robotics Vol. 5, Issue 49, eabd1911 (2020). (IF=19.4)

[2] Z. Tayeb, R. Bose, A. Dragomir, L. E. Osborn, N. V. Thakor and G. Cheng: Decoding of Pain Perception using EEG Signals for a Real-Time Reflex System in Prostheses: A Case Study. Nature Scientific Reports 10, No1, 2020, 5606., (2020). (IF=3.998)

[3] G. Cheng, E. Dean-Leon, F. Bergner, J. R. G. Olvera, Q. Leboutet, and P. Mittendorfer: A Comprehensive Realization of Robot Skin: Sensors, Sensing, Control, and Applications, Proceedings of the IEEE, vol. 107, no. 10, pp. 2034-2051, 2019, doi: 10.1109/JPROC.2019.2933348. (IF=10.252)

[4] G. Cheng, K. Ramirez-Amaro, M. Beetz, and Y. Kuniyoshi, “Purposive learning: Robot reasoning about the meanings of human activities”. Science Robotics 4 (26), (2019). (IF=19.4)

[5] Dean, K. Ramirez-Amaro, F. Bergner, I. Dianov, G. Cheng: Integration of Advanced Robotic Technologies for Rapidly Deployable Industrial Robots. IEEE Transactions on Industrial Informatics (4) (2018). (IF=7.377)

[6]  K. Ramirez-Amaro, M. Beetz, G. Cheng: Transferring Skills to Humanoid Robots by Extracting Semantic Representations from Observations of Human Activities. Artificial Intelligence 247, 95-118 (2017). (IF=6.628)

[7] A. Wykowska, T. Chaminade, G. Cheng: Embodied artificial agents for understanding human social cognition. Philosophical Transactions of the Royal Society of London. B 371: 20150375 (2016). (IF=6.139)

[8] R. C. Donati, S. Shokur, E. Morya, D. S. F. Campos, R. C. Moioli, C. M. Gitti, P. B. Augusto, S. Tripodi, C. G. Pires, G. A. Pereira, F. L. Brasil, S. Gallo, A. A. Lin, A. K. Takigami, M. A. Aratanha, S. Joshi, H. Bleuler, G. Cheng, A. Rudolph, M. A. L. Nicolelis: Long-Term Training with a Brain-Machine Interface-Based Gait Protocol Induces Partial Neurological Recovery in Paraplegic Patients, Nature Scientific Reports, August 11 (2016). (IF=3.998)

[9] G. Cheng: Humanoid Robotics and Neuroscience: Science, Engineering and Society, Frontiers in Neuroengineering, CRC Pr Inc (Ed.), (2014). ISBN-10: 1420093665; ISBN-13: 978-1420093667.

[10]  J. Nassour, V. Hugel, F. B. Ouezdou, G. Cheng: Qualitative adaptive reward learning with success failure maps: applied to humanoid robot walking. IEEE Transactions on Neural Networks and Learning Systems, 24(1), 81-93 (2013). (IF=11.683)

 

Publications by year

2021

  • Nicolas Spatola, Barbara Kühnlenz and Gordon Cheng: Perception and evaluation in human-robot interaction: The Human-Robot Interaction Evaluation Scale (HRIES) - a multicomponent approach of anthropomorphism. International Journal of Social Robotics, 2021 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Guillermo Oliver; Pablo Lanillos; Gordon Cheng: An empirical study of active inference on a humanoid robot Publisher: IEEE. IEEE Transactions on Cognitive and Developmental Systems, 2021 more… BibTeX Full text ( DOI )

2020

  • Florian Bergner, Emmanuel Dean-Leon, and Gordon Cheng: Design and Realization of an Efficient Large-Area Event-Driven E-Skin. Sensors - Neuromorphic Computing for Event-Based Sensors and Actuators 20 (7), 2020 more… BibTeX Full text ( DOI )
  • Watanabe, Yoshiaki, Amaro, Karinne Ramirez, Ilhan, Bahriye, Kinoshita, Taku, Bock, Thomas and Cheng, Gordon: Robust Localization with Architectural Floor Plans and Depth Camera. IEEE/SICE International Symposium on System Integration (SII), 2020, 133-138 more… BibTeX Full text ( DOI )
  • Ana Elvira H. Martin, Emmanuel Dean-Leon and Gordon Cheng: "TACTO-Selector: Enhanced Hierarchical Fusion of PBVS with Reactive Skin Control for Physical Human-Robot Interaction,”. IEEE International Conference on Robotics and Automation (ICRA), 2020, 9121-9127, more… BibTeX Full text ( DOI )
  • Constantin Uhde, Nicolas Berberich, Karinne Ramirez-Amaro, and Gordon Cheng: The Robot as Scientist: Using Mental Simulation to Test Causal Hypotheses Extracted from Human Activities in Virtual Reality. IROS, 2020 more… BibTeX Full text (mediaTUM)
  • Erhard Wieser, Gordon Cheng: EO-MTRNN: evolutionary optimization of hyperparameters for a neuro-inspired computational model of spatiotemporal learning. Biological Cybernetics , 2020 more… BibTeX Full text ( DOI )
  • Florian M. Schönleitner, Lukas Otter, Stefan K. Ehrlich, Gordon Cheng: Calibration-free error-related potential decoding with adaptive subject-independent models: A comparative study. IEEE Transactions on Medical Robotics and Bionics, 2020 more… BibTeX
  • Gordon Cheng, Stefan K. Ehrlich, Mikhail Lebedev and Miguel A. L. Nicolelis: Neuroengineering challenges of fusing robotics and neuroscience. Science Robotics (Vol. 5, Issue 49, eabd1911), 2020 more… BibTeX Full text ( DOI )
  • Hoxha, Isabelle; Del Duca, Fulvia; Ehrlich, Stefan K.; Bergner, Florian; Berberich, Nicolas; Cheng, Gordon: Improving user comfort in auditory-steady-state-response brain-computer interface by using a co-adaptive stimulus. FENS 2020 Virtual Forum 2020Federation of European Neuroscience Societies (FENS) more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • J. Nassour, F. H. Hamker and G. Cheng: High-Performance Perpendicularly-Enfolded-Textile Actuators for Soft Wearable Robots: Design and Realization. IEEE Transactions on Medical Robotics and Bionics, 2020 more… BibTeX Full text ( DOI )
  • J. Rogelio Guadarrama-Olvera, Emmanuel Dean, Florian Bergner, and Gordon Cheng: Plantar Tactile Feedback For Biped Balance and Locomotion on Unknown Terrain. International Journal of Humanoid Robotics, 2020, 1950036-1-21 more… BibTeX Full text ( DOI )
  • Jasmin Kajopoulos, Gordon Cheng, Koichi Kise, Hermann J. Müller & Agnieszka Wykowska: Focusing on the face or getting distracted by social signals? The effect of distracting gestures on attentional focus in natural interaction. Psychological Research , 2020 more… BibTeX Full text ( DOI )
  • Luke E Osborn, Keqin Ding, Mark A Hays, Rohit Bose, Mark M Iskarous, Andrei Dragomir, Zied Tayeb, György M Lévay, Christopher L Hunt, Gordon Cheng, Robert S Armiger, Anastasios Bezerianos, Matthew S Fifer and Nitish V Thakor: Sensory stimulation enhances phantom limb perception and movement decoding. Journal of Neural Engineering Vol 17 No 5, 2020 more… BibTeX Full text ( DOI )
  • Mariia Popova, Melanie Tschiersch, Nicolas Berberich, Stefan K. Ehrlich, David Franklin, Gordon Cheng: A bump-attractor spiking neural network for motor adaptation and washout based on Norepinephrine release in primary motor cortex. CNS2020, 2020 more… BibTeX
  • Melanie Tschiersch, Mariia Popova, Nicolas Berberich, Stefan K. Ehrlich, David Franklin, Gordon Cheng: A bump-attractor spiking neural network for motor learning based on Norepinephrine release. FENS2020 2020Federation of European Neuroscience Societies (FENS) more… BibTeX
  • Nicolas Berberich, Gordon Cheng: Kognitive Systeme und Neurorobotik. In: Philosophisches Handbuch Künstliche Intelligenz. Springer Reference Geisteswissenschaften. Springer VS, Wiesbaden, 2020 more… BibTeX Full text ( DOI )
  • Pablo Lanillos, Daniel Oliva, Anja Philippsen, Yuichi Yamashita,Yukie Nagai, Gordon Cheng: A review on neural network models of schizophrenia and autism spectrum disorder. Neural Networks Vol 122, 2020, 338-363 more… BibTeX Full text ( DOI )
  • Quentin Leboutet ; J. Rogelio Guadarrama-Olvera ; Florian Bergner ; Gordon Cheng: Second-order Kinematics for Floating-base Robots using the Redundant Acceleration Feedback of an Artificial Sensory Skin. 2020 IEEE International Conference on Robotics and Automation (ICRA), 2020 more… BibTeX Full text ( DOI )
  • Quentin Leboutet, Florian Bergner and Gordon Cheng: Online Configuration Selection for Redundant Arrays of Inertial Sensors: Application to Robotic Systems Covered with a Multimodal Artificial Skin. IROS 2020, 2020 more… BibTeX Full text (mediaTUM)
  • Stefan K. Ehrlich and Gordon Cheng: Passive BCI for assessment and adaptation of robotic systems during human-robot interaction. BCI: Science & Practice, Samara 2020, 2020 more… BibTeX
  • Sunghoon Lee, Sae Franklin, Faezeh Arab Hassani, Tomoyuki Yokota, Md Osman Goni Nayeem, Yan Wang, Raz Leib, Gordon Cheng, David W. Franklin, Takao Someya: Nanomesh pressure sensor for monitoring finger manipulation without sensory interference View ORCID Profile. Science Vol. 370 (Issue 6519,), 2020, 966-970 more… BibTeX Full text ( DOI )
  • Viktorija Dimova, Stefan K. Ehrlich and Gordon Cheng: ErrP Components of Self- and Agent-Related Errors in Human-Agent Collaboration. BCI: Science & Practice, Samara 2020 , 2020 more… BibTeX
  • Zied Tayeb, Rohit Bose, Andrei Dragomir, Luke E. Osborn, Nitish V. Thakor and Gordon Cheng: Decoding of Pain Perception using EEG Signals for a Real-Time Reflex System in Prostheses: A Case Study. Nature Scientific Reports 10,No1 , 2020, 5606 more… BibTeX Full text ( DOI )

2019

  • Amir Rasouli Pablo Lanillos Gordon Cheng John K. Tsotsos: Attention-based active visual search for mobile robots. Autonomous Robots, 2019 more… BibTeX Full text ( DOI )
  • Cheng, Gordon and Ramirez-Amaro, Karinne and Beetz, Michael and Kuniyoshi, Yasuo: Purposive learning: Robot reasoning about the meanings of human activities. Science Robotics 4 (26), 2019 more… BibTeX Full text ( DOI )
  • Cheng, Gordon; Dean-Leon, Emmanuel; Bergner, Florian; Olvera, Julio Rogelio Guadarrama; Leboutet, Quentin; Mittendorfer, Philipp: A Comprehensive Realization of Robot Skin: Sensors, Sensing, Control, and Applications. Proceedings of the IEEE Volume 107 (10), 2019, 2034 - 2051 more… BibTeX Full text ( DOI )
  • Constantin Uhde, Emmanuel Dean and Gordon Cheng: CHiMP: A Contact based Hilbert Map Planner. IEEE International Conference on Robotics and Automation (ICRA), 2019, 2019, 7 more… BibTeX Full text (mediaTUM)
  • Emmanuel Dean, J. Rogelio Guadarrama-Olvera, Florian Bergner and Gordon Cheng: Whole-Body Active Compliance Control for Humanoid Robots with Robot Skin. 2019 International Conference on Robotics and Automation (ICRA), 2019, 5404--5410 more… BibTeX Full text ( DOI )
  • Florian Bergner, Emmanuel Dean, J. Rogelio Guadarrama-Olvera and Gordon Cheng: Evaluation of a Large Scale Event Driven Robot Skin. IEEE Robotics and Automation Letters 4 (4), 2019, 4247 - 4254 more… BibTeX Full text ( DOI )
  • Florian M. Schönleitner, Lukas Otter, Stefan K. Ehrlich, Gordon Cheng: A comparative study on adaptive subject-independent classification models for zero-calibration error-potential decoding. IEEE International Conference on Cyborg and Bionic Systems 2019 , 2019 more… BibTeX
  • Gordon Cheng: Realising self-organising robot skin - SelPhyS 2019. 2019 more… BibTeX
  • Gordon Cheng: End-to-end smart robot skin - Moscow - Skolkovo Robotic Forum. 2019 more… BibTeX
  • Gordon Cheng: Purposive learning from humans - Hamlyn Symposium for Medical Robotics. 2019 more… BibTeX
  • Gordon Cheng: Towards multi-intelligences: are we there yet? - International Symposium on Machine Intelligence for Future Society 2019. 2019 more… BibTeX
  • Itadera, Shunki, Dean-Leon, Emmanuel, Nakanishi, Jun, Hasegawa, Yasuhisa and Cheng, Gordon: Predictive Optimization of Assistive Force in Admittance Control-Based Physical Interaction for Robotic Gait Assistance. IEEE Robotics and Automation Letters 4 (4), 2019, 3609-3616 more… BibTeX Full text ( DOI )
  • J. Rogelio Guadarrama-Olvera, Emmanuel Dean, Florian Bergner, and Gordon Cheng: Pressure-Driven Body Compliance Using Robot Skin. IEEE Robotics and Automation Letters, 2019, 4418-4423 more… BibTeX Full text ( DOI )
  • Jonas F. Braun, Germán Díez Valencia, Stefan K. Ehrlich, Pablo Lanillos, Gordon Cheng: A prototype of a P300 based brain-robot interface to enable multi-modal interaction for patients with limited mobility. IEEE International Conference on Cyborg and Bionic Systems 2019 , 2019 more… BibTeX
  • Karinne Ramirez-Amaro, Constantin Uhde, Tamas Bates, Gordon Cheng: A Benchmarking Dataset for Automatic Symbolic Grounding from Virtual Demonstrations. 2nd International Workshop on Computational Models of Affordance in Robotics at the IEEE International Conference on Robotics and Automation (ICRA), 2019 more… BibTeX
  • Karinne Ramirez-Amaro, Yezhou Yang, Gordon Cheng: A Survey on Semantic-based Methods for the Understanding of Human Movements. Robotics and Autonomous Systems 119, 2019, 117–122 more… BibTeX Full text ( DOI )
  • Karinne Ramirez‐Amaro, Emmanuel Dean‐Leon, Florian Bergner and Gordon Cheng: A Semantic‐Based Method for Teaching Industrial Robots New Tasks. KI - Künstliche Intelligenz 33 (2), 2019, 117–122 more… BibTeX Full text ( DOI )
  • Michael Deistler, Yagmur Yener, Florian Bergner, Pablo Lanillos, Gordon Cheng: Tactile Hallucinations on Artificial Skin Induced by Homeostasis in a Deep Boltzmann Machine. IEEE International Conference on Cyborg and Bionic Systems 2019 , 2019 more… BibTeX
  • Quentin Leboutet, Emmanuel Dean-Leon, Florian Bergner and Gordon Cheng: Tactile-based Whole-body Compliance with Force Propagation for Mobile Manipulators. IEEE-TRO Transaction on Robotics, 2019 more… BibTeX Full text (mediaTUM)
  • Stefan K. Ehrlich, Gordon Cheng: A computational model of human decision making and learning for assessment of co-adaptation in neuro-adaptive human-robot interaction. IEEE International Conference on Systems, Man, and Cybernetics 2019, 2019 more… BibTeX
  • Stefan K. Ehrlich, Kat R. Agres, Cuntai Guan, Gordon Cheng: A closed-loop, music-based brain-computer interface for emotion mediation. PLoS ONE, 2019 more… BibTeX Full text ( DOI )
  • Taisuke Kobayashi, Emmanuel Dean-Leon, Julio Rogelio Guadarrama-Olvera, Florian Bergner, and Gordon Cheng: Multi-Contacts Force-Reactive Walking Control duringPhysical Human-Humanoid Interaction. IEEE-RAS 19th International Conference on Humanoid Robots (Humanoids), 2019, 33-39 more… BibTeX
  • Taisuke Kobayashi, Takumi Aotani, Julio Rogelio Guadarrama-Olvera,Emmanuel Dean-Leon, and Gordon Cheng: Reward-Punishment Actor-Critic Algorithm Applying to Robotic Non-grasping Manipulation. 2019 Joint IEEE 9th International Conference on Development and Learning and Epigenetic Robotics (ICDL-EpiRob), 2019, 2161-9484 more… BibTeX Full text ( DOI )
  • Tayeb, Zied and Fedjaev, Juri and Ghaboosi, Nejla and Richter, Christoph and Everding, Lukas and Qu, Xingwei and Wu, Yingyu and Cheng, Gordon and Conradt, Jörg: Validating deep neural networks for online decoding of motor imagery movements from EEG signals. Sensors and Actuators A: Physical, 19 (1), 2019, 210 more… BibTeX
  • Zied Tayeb, Philipp Jakovleski, Zhong Chen, Jannick Lippert, Pablo Lanillos, Dongheui Lee, Gordon Cheng: Enabling the sense of touch in EMG-controlled hand prostheses using vibro-tactile stimulation. 9th International IEEE/EMBS Conference on Neural Engineering (NER), 2019 more… BibTeX Full text ( DOI )

2018

  • Di Feng, Mohsen Kaboli*, and Gordon Cheng: Active Prior Tactile Knowledge Transfer for Learning Tactual Properties of New Objects. Sensors and Actuators A: Physical, 18 (2), 2018 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Albrecht, Andreas and Bobinger, Marco and Salmer{\'o}n, Jos{\'e} and Becherer, Markus and Cheng, Gordon and Lugli, Paolo and Rivadeneyra, Almudena: Over-Stretching Tolerant Conductors on Rubber Films by Inkjet-Printing Silver Nanoparticles for Wearables. Polymers 10 (12), 2018, 1413 more… BibTeX
  • Behrenbeck, Jan and Tayeb, Zied and Bhiri, Cyrine and Richter, Christoph and Rhodes, Oliver and Kasabov, Nikola and Espinosa-Ramos, Josafath I and Furber, Steve and Cheng, Gordon and Conradt, Jörg: Classification and regression of spatio-temporal signals using NeuCube and its realization on SpiNNaker neuromorphic hardware. Journal of neural engineering, 2018 more… BibTeX
  • Christian Bader, Florian Bergner and Gordon Cheng: A Robust and Efficient Dynamic Network Protocol for a large-scale artificial robotic skin. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, 1600 - 1605 more… BibTeX Full text (mediaTUM)
  • Dennis Ossadnik, J. Rogelio Guadarrama-Olvera, Emmanuel Dean-Leon and Gordon Cheng: Adaptive Friction Compensation for Humanoid Robots without Joint-Torque Sensors. IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018, 980 - 985 more… BibTeX Full text ( DOI )
  • Emmanuel Dean, Karinne Ramirez-Amaro, Florian Bergner, Ilya Dianov, and Gordon Cheng: Integration of Advanced Robotic Technologies for Rapidly Deployable Industrial Robots. IEEE Transactions on Industrial Informatics (4), 2018 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Erhard Wieser and Gordon Cheng: A Self-Verifying Cognitive Architecture for Robust Bootstrapping of Sensory-Motor Skills via Multi-Purpose Predictors. IEEE Transactions on Cognitive and Developmental Systems, 2018 more… BibTeX Full text ( DOI )
  • Florian Bergner, Emmanuel Dean-Leon and Gordon Cheng: Efficient Distributed Torque Computation for Large Scale Robot Skin. 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2018, 1593 - 1599 more… BibTeX Full text (mediaTUM)
  • German Diez-Valencia, Takuya Ohashi, Pablo Lanillos and Gordon Cheng: Sensorimotor learning for artificial body perception. International Workshop on Crossmodal Learning for Intelligent Robotics, IEEE/RSJ Intelligent Robots and Systems (IROS), 2018 more… BibTeX Full text (mediaTUM)
  • Gordon Cheng: AI in the real world: from neuroscience to robotic innovations -William Mong Distinguished Lectures in Engineering, Hon Kong. 2018 more… BibTeX
  • Gordon Cheng: Making the best of pretouch  - 1st Workshop on Proximity Perception in Robotics at IROS 2018. 2018 more… BibTeX
  • Gordon Cheng: AI In The Real World: From Neuroscience To Robotic Innovations - DIGITAL CONVENTION 2018. 2018 more… BibTeX
  • J. Rogelio Guadarrama-Olvera, Florian Bergner, Emmanuel Dean and Gordon Cheng: Enhancing Biped Locomotion on Unknown Terrain Using Tactile Feedback. IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids), 2018, 47 - 52 more… BibTeX Full text ( DOI )
  • Kaboli, Mohsen and Cheng, Gordon: Robust tactile descriminating objects from textural properties via artificial robotic skin. IEEE Transactions on Robotics 34 (4), 2018, 985-1003 more… BibTeX
  • Karinne Ramirez-Amaro and Gordon Cheng: Accelerating the teaching of industrial robots by re-using semantic knowledge from various domains. Workshop WORKMATE: the WORKplace is better with intelligent, collaborative, robot MATEs at the IEEE International Conference on Robotics and Automation. May 2018, Brisbane, Australia. , 2018 more… BibTeX Full text (mediaTUM)
  • Lutscher, Ewald; Dean-León, Emmanuel C; Cheng, Gordon: Hierarchical Force and Positioning Task Specification for Indirect Force Controlled Robots. IEEE Transactions on Robotics 34 (1), 2018, 280 - 286 more… BibTeX Full text (mediaTUM)
  • Mohsen Kaboli and Gordon Cheng: Robust Tactile Descriptors for Discriminating Objects From Textural Properties via Artificial Robotic Skin. IEEE Transactions on Robotics 34 (4), 2018, 985-1003 more… BibTeX Full text ( DOI )
  • Mohsen Kaboli, Kunpeng Yao, Di Feng, and Gordon Cheng: Tactile-based Active Object Discrimination and Target Object Search in an Unknown Workspace. Autonomous Robots, 2018, 1573-7527 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Nina-Alisa Hinz, Pablo Lanillos, Hermann Mueller and Gordon Cheng: Drifting perceptual patterns suggest prediction errors fusion rather than hypothesis selection: replicating the rubber-hand illusion on a robot. IEEE international conference on development and learning and on epigenetic robotics (ICDL-Epirob), 2018 more… BibTeX
  • Pablo Lanillos and Gordon Cheng: Active Attention Applications in Robotics. International Workshop on Active vision, Attention, and Learning, IEEE Developmental Learning and Epigenetic Robotics (ICDL-Epirob), 2018 more… BibTeX
  • Pablo Lanillos and Gordon Cheng: Active inference with function learning for robot body perception. International Workshop on Continual Unsupervised Sensorimotor Learning, IEEE Developmental Learning and Epigenetic Robotics (ICDL-Epirob), 2018 more… BibTeX
  • Pablo Lanillos and Gordon Cheng: Adaptive robot body learning and estimation through predictive coding. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2018)I, 2018 more… BibTeX
  • Pablo Lanillos and Gordon Cheng: Active Attention Applications in Robotics. International Workshop Visual Search and Selective Attention (VSSA IV), 2018 more… BibTeX
  • Pablo Lanillos, Nina-Alisa Hinz, Hermann Mueller and Gordon Cheng: Replicating Body Illusions on a Robot with Predictive Coding Models. International Conference on The Open Self: Investigating the Boundaries of the Self: Bodily, Social and Technological 2018 more… BibTeX
  • Stefan Ehrlich, Gordon Cheng: A feasibility study for validating robot actions using EEG-based error-related potentials. International Journal of Social Robotics, Vol.5, Number 4, , 2018 more… BibTeX Full text ( DOI )
  • Stefan Ehrlich, Gordon Cheng: Human-agent co-adaptation using error related potentials. Journal of Neural Engineering, 2018 more… BibTeX Full text ( DOI )
  • Wakatabe, Ryo and Morita, Kohei and Cheng, Gordon and Kuniyoshi, Yasuo: Efficient Event-Driven Forward Kinematics of Open Kinematic Chains with O (Log n) Complexity. 2018 IEEE International Conference on Robotics and Automation (ICRA), 2018, 6975 - 6982 more… BibTeX
  • Zied Tayeb, Nicolai Waniek, Juri Fedjaev, Nejla Ghaboosi, Leonard Rychly, Christian Widderich, Christoph Richter, Joans Braun, Matteo Saveriano, Gordon Cheng und Jörg Conradt: Gumpy: a python toolbox suitable for hybrid brain-computer interfaces. Journal of Neural Engineering, 2018 more… BibTeX

2017

  • Stefan Ehrlich, Cuntai Guan, Gordon Cheng: A closed-loop Brain-Computer Music Interface for continuous affective interaction. International Conference on Orange Technologies, ICOT2017 (8.-10.12.2017), 2017 ICOT2017 more… BibTeX
  • Ana Alves-Pinto, Stefan Ehrlich, Gordon Cheng, Varvara Turova, Tobias Blumenstein, Renée Lampe: Effects of short-term piano training on measures of finger tapping, somatosensory perception and motor-related brain activity in patients with cerebral palsy. Neuropsychiatric Disease and Treatment, 2017 more… BibTeX Full text (mediaTUM)
  • Emmanuel Dean-Leon, Brennand Pierce, Florian Bergner, Philipp Mittendorfer, Karinne Ramirez-Amaro, Wolfgang Burger and Gordon Cheng: TOMM: Tactile Omnidirectional Mobile Manipulator. 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017Singapore, May 29 - June 3, 2017, 2441-2447 more… BibTeX
  • Florian Bergner, Emmanuel Dean-Leon and Gordon Cheng: Efficient Event-Driven Reactive Control for Large Scale Robot Skin. 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, 394 - 400 more… BibTeX Full text (mediaTUM)
  • J. Rogelio Guadarrama-Olvera, Emmanuel Dean-Leon and Gordon Cheng: Using Intentional Contact to Achieve Tasks in Tight Environments. 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, 1000 - 1005 more… BibTeX Full text (mediaTUM)
  • Karinne Ramirez-Amaro, Humera Noor Minhas, Michael Zehetleitner, Michael Beetz, and Gordon Cheng.: Added Value of Gaze-Exploiting Semantic Representation to Allow Robots Inferring Human Behaviors. ACM Transactions on Interactive Intelligent Systems, Vol. 7, No. 1, Article 5 7, 2017 more… BibTeX
  • Karinne Ramirez-Amaro,Michael Beetz, Gordon Cheng: Added Value of Gaze-Exploiting Semantic Representation to Allow Robots Inferring Human Behaviors. ACM Transactions on Interactive Intelligent Systems (TiiS) 7 (1), 2017 more… BibTeX Full text ( DOI )
  • Kuniyuki Takahashi and Tetsuya Ogata and Jun Nakanishi and Gordon Cheng and Shigeki Sugano: Dynamic motion learning for multi-DOF flexible-joint robots using active–passive motor babbling through deep learning. Advanced Robotics 31 (18), 2017, 1002-1015 more… BibTeX Full text ( DOI )
  • Kunpeng Yao, Mohsen Kaboli, and Gordon Cheng: Tactile-based Object Center of Mass Exploration and Discrimination. IEEE International Conference on Humanoid Robots (Humanoids), 2017 more… BibTeX Full text (mediaTUM)
  • Mohsen Kaboli, Di Feng, Gordon Cheng: Active Tactile Transfer Learning for Object Discrimination in an Unstructured Environment using Multimodal Robotic Skin. International Journal of Humanoid Robotics (IJHR), 2017 more… BibTeX Full text (mediaTUM)
  • Mohsen Kaboli, Di Feng, Kunpeng Yao, Pablo Lanillos, Gordon Cheng: A Tactile-based Framework for Active Object Learning and Discrimination using Multi-modal Robotic Skin. IEEE Robotics and Automation Letters 2 (4), 2017, 2143-2150 more… BibTeX Full text (mediaTUM)
  • Pablo Lanillos, Emmanuel Dean-Leon and Gordon Cheng: Enactive Self: a study of engineering perspectives to obtain the sensorimotor self through enaction. IEEE International Conference on Developmental Learning and Epigenetic Robotics , 2017 more… BibTeX Full text (mediaTUM)
  • Ryo Wakatabe, Yasuo Kuniyoshi, Gordon Cheng: O (log sn) algorithm for forward kinematics under asynchronous sensory input. 2017 IEEE International Conference on Robotics and Automation (ICRA), 2017, 2502-2507 more… BibTeX Full text (mediaTUM)
  • Stefan Ehrlich, Ana Alves-Pinto, Renée Lampe, Gordon Cheng: A simple and practical sensorimotor EEG device for recording in patients with special needs. Neurotechnix2017, CogNeuroEng 2017, Symposium on Cognitive Neural Engineering , 2017Understanding, Decoding and Interfacing with Cognitive Level Processes in the Brain through Neurotechnology more… BibTeX Full text (mediaTUM)
  • Tamas Bates, Karinne Ramirez-Amaro, Tetsunari Inamura, Gordon Cheng: On-Line Simultaneous Learning and Recognition of Everyday Activities from Virtual Reality Performances. IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2017)I, 2017 more… BibTeX
  • Wolfgang Burger, Erhard Wieser, Emmanuel Dean-Leon, and Gordon Cheng: A Scalable Method for Multi-Stage Developmental Learning for Reaching. IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob), 2017 more… BibTeX Full text (mediaTUM)

2016

  • Florian Bergner, Emmanuel Dean-Leon and Gordon Cheng: Event-based signaling for large-scale artificial robotic skin - Realization and performance evaluation. 2016 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2016, 4918 - 4924 more… BibTeX Full text (mediaTUM)
  • Donati ARC, Shokur S, Morya E, Campos DSF, Moioli RC, Gitti CM, Augusto PB, Tripodi S, Pires CG, Pereira GA, Brasil FL, Gallo S, Lin AA, Takigami AK, Aratanha MA, Joshi S, Bleuler H, Cheng G, Rudolph A, Nicolelis MAL: Long-Term Training with a Brain-Machine Interface-Based Gait Protocol Induces Partial Neurological Recovery in Paraplegic Patients. Nature Scientific Reports (6), 2016 more… BibTeX Full text ( DOI )
  • E. Dean, K. Ramirez-Amaro, F. Bergner, I. Dianov, P. Lanillos, and G. Cheng: Robotic technologies for fast deployment of industrial robot systems. IEEE Industrial Electronics Conference (IEEE IECON2016), 2016 more… BibTeX Full text (mediaTUM)
  • Emmanuel Dean-Leon, Florian Bergner, Karinne Ramirez-Amaro and Gordon Cheng: From Multi-modal Tactile Signals to a Compliant Control. IEEE-RAS International Conference on Humanoid Robots 2016, 2016 more… BibTeX Full text (mediaTUM)
  • Erhard Wieser and Gordon Cheng: Progressive Learning of Sensory-Motor Maps through Spatiotemporal Predictors. IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob), 2016 more… BibTeX Full text (mediaTUM)
  • Kanata Suzuki, Kuniyuki Takahashi, Gordon Cheng, Tetsuya Ogata:: Motion Generation of Flexible Object Folding Task applied on Humanid Robot Using Deep Learning. 78th national conference of Processing Society of Japan, 2016 more… BibTeX Full text (mediaTUM)
  • Karinne Ramirez-Amaro, Emmanuel Dean-Leon, Ilya Dianov, Florian Bergner and Gordon Cheng,: General Recognition Models Capable of Integrating Multiple Sensors for Different Domains. IEEE-RAS International Conference on Humanoid Robots 2016, 2016 more… BibTeX Full text (mediaTUM)
  • M. Vilgelm, G. Neamtu, P. Mittendorfer, G. Cheng, W. Kellerer: Partitioning Algorithm for a Resource-Constrained Robotic Skin Sensor Network. IEEE International Black Sea Conference on Communications and Networking (BlackSeaCom), Varna, Bulgaria, June 2016, 2016 more… BibTeX Full text (mediaTUM)
  • Mohsen Kaboli, Kunpeng Yao, and Gordon Cheng: Tactile-based Manipulation of Deformable Objects with Dynamic Center of Mass. IEEE-RAS International Conference on Humanoid Robots 2016, 2016 more… BibTeX Full text (mediaTUM)
  • Mohsen Kaboli, Rich Walker, and Gordon Cheng: Re-using Prior Tactile Experience by Robotic Hands to Discriminate In-Hand Objects via Texture Properties. IEEE International Conference on Robotics and Automation (ICRA 2016), 2016 more… BibTeX Full text (mediaTUM)
  • Pablo Lanillos and Gordon Cheng: Robots with self-perception: objects discovery and scene disambiguation using visual, proprioceptive and tactile cues correlation during interaction. Robotics in the 21st century: Challenges and Promises International Workshop (funded by the Volkswagen Foundation and the HeKKSaGOn Network) 2016 more… BibTeX
  • Pablo Lanillos, Emmanuel Dean-Leon and Gordon Cheng: Yielding self-perception in robots through sensorimotor contingencies. IEEE Transactions on Cognitive and Developmental Systems, 2016 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Pablo Lanillos, Emmanuel Dean-Leon and Gordon Cheng: Multisensory Object Discovery via Self-detection and Artificial Attention. IEEE International Conference on Developmental Learning and Epigenetic Robotics , 2016 more… BibTeX Full text (mediaTUM)
  • Quentin Leboutet, Emmanuel Dean-Leon and Gordon Cheng: Tactile-based Compliance with Hierarchical Force Propagation for Omnidirectional Mobile Manipulators. IEEE/RAS International Conference on Humanoid Robots (Humanoids2016), 2016 more… BibTeX Full text (mediaTUM)
  • Sara El-Molla, Andreas Albrecht, Engin Cagatay, Philipp Mittendorfer, Gordon Cheng, Paolo Lugli, José F. Salmerón and Almudena Rivadeneyra: Integration of a Thin Film PDMS-Based Capacitive Sensor for Tactile Sensing in an Electronic Skin. Journal of Sensors Vol 16, 2016 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Stefan Ehrlich, Ana Alves-Pinto, Renée Lampe, Gordon Cheng: A simple and practical prototype of a sensorimotor EEG device. Bernstein Conference on Computational Neuroscience 2016 more… BibTeX
  • Stefan Ehrlich, Gordon Cheng: Detecting erroneous robot behavior from the electroencephalogram (EEG) during human robot interaction. Bernstein Conference 2016 more… BibTeX
  • Stefan Ehrlich, Gordon Cheng: A neuro-based method for detecting context-dependent erroneous robot action. IEEE-RAS International Conference on Humanoid Robots 2016 , 2016 more… BibTeX Full text (mediaTUM)
  • Wykowska A, Chaminade T, Cheng G: Embodied artificial agents for understanding human social cognition. Royal Society of London 371: 20150375, 2016 more… BibTeX Full text ( DOI )
  • llya Dianov, Karinne Ramirez-Amaro, Pablo Lanillos, Emmanuel Dean-Leon, Florian Bergner and Gordon Cheng: Extracting general task structures to accelerate the learning of new tasks. IEEE-RAS International Conference on Humanoid Robots 2016 , 2016 more… BibTeX Full text (mediaTUM)

2015

  • Florian Bergner, Philipp Mittendorfer, Emmanuel Dean-Leon and Gordon Cheng: Event-based signaling for reducing required data rates and processing power in a large-scale artificial robotic skin. 015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2015, 2124 - 2129 more… BibTeX Full text (mediaTUM)
  • Gerhard Hagerer, Michael Lux, Stefan Ehrlich, Gordon Cheng: Augmenting Affect from Speech with Generative Music. CHI EA ‘15, 2015Proceedings of the 33rd Annual ACM Conference Extended Abstracts on Human Factors in Computing Systems (CHI EA ‘15) more… BibTeX Full text (mediaTUM)
  • Ilya Dianov, Karinne Ramirez-Amaro and Gordon Cheng: Generating Compact Models for Traffic Scenarios to Estimate Driver Behavior Using Semantic Reasoning. IROS, International Conference on Intelligent Robots and Systems, 20157th International workshop on Planning, Perception and Navigation for Intelligent Vehicles, IROS, 69-74 more… BibTeX Full text (mediaTUM)
  • Karinne Ramirez-Amaro , Michael Beetz and Gordon Cheng: Understanding the intention of human activities through semantic perception: observation, understanding and execution on a humanoid robot. Advanced Robotics 29 (5), 2015, 345-362 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Karinne Ramirez-Amaro , Michael Beetz and Gordon Cheng: Understanding the intention of human activities through semantic perception: observation, understanding and execution on a humanoid robot. Advanced Robotics 29 (5), 2015, 345-362 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Karinne Ramirez-Amaro, Emmanuel Dean-Leon, and Gordon Cheng: Robust Semantic Representations for Inferring Human Co-manipulation Activities even with Different Demonstration Styles. 15th IEEE-RAS International Conference on Humanoid Robots, 2015 more… BibTeX Full text (mediaTUM)
  • Karinne Ramirez-Amaro, Michael Beetz, Gordon Cheng: Transferring Skills to Humanoid Robots by Extracting Semantic Representations from Observations of Human Activities. Artificial Intelligence Journal, 2015 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Kuniyuki Takahashi, Tetsuya Ogata, Shigeki Sugano, Gordon Cheng: Dynamic Motion Learning for a Flexible-Joint Robot using Active-Passive Motor Babbling,. The 33rd Annual Conference of the Robotics Society of Japan, 2015, 2G1-07 more… BibTeX Full text (mediaTUM)
  • Mittendorfer, Philipp and Yoshida, Eiichi and Cheng, Gordon: Realizing whole-body tactile interactions with a self-organizing, multi-modal artificial skin on a humanoid robot. Advanced Robotics 1 (29), 2015, 51--67 more… BibTeX
  • Mohsen Kaboli and Gordon Cheng: Dexterous Hands Learn To Re-Use The Past Experience To Discriminate In-Hand Objects From The Surface Texture. 33rd Annual Conference of the Robotics Society of Japan (RSJ 2015), 2015 more… BibTeX Full text (mediaTUM)
  • Mohsen Kaboli, Alex Long, Gordon Cheng: Humanoids Learn Touch Modalities Identification via Multi-Modal Robotic Skin and Robust Tactile Descriptors. Advanced Robotics , 2015 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Mohsen Kaboli, Armando De La Rosa T, Rich Walker, and Gordon Cheng: In-Hand Object Recognition via Texture Properties with Robotic Hands, Artificial Skin, and Novel Tactile Descriptors. IEEE-RAS 15th International Conference on Humanoid Robots (Humanoids), 2015 more… BibTeX Full text (mediaTUM)
  • Nicholas H. Kirk, Karinne Ramirez-Amaro, Emmanuel Dean-Leon, Matteo Saveriano and Gordon Cheng: Online Prediction of Activities with Structure: Exploiting Contextual Associations and Sequences. 15th IEEE-RAS International Conference on Humanoid Robots, 2015 more… BibTeX Full text (mediaTUM)
  • Nivasan Yogeswaran, Wenting Dang, William Navaraj, Dhayalan Shakthivel, Saleem Khan, Emre Polat, Shoubhik Gupta, Hadi Heidari, Mohsen Kaboli, Leandro Lorenzelli, Gordon Cheng, Ravinder Dahiya: New Materials and Advances in Making Electronic Skin for Interactive Robots. Advanced Robotics , 2015 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Stefan Ehrlich, Agnieszka Wykowska, Karinne Ramirez-Amaro, Gordon Cheng: Predictive modeling of higher-cognitive processes involved in social engagement based on electroencephalography (EEG). Proceedings of the Bernstein Conference 2015 (Bernstein Conference 2015) , 2015Bernstein Conference 2015 more… BibTeX Full text (mediaTUM)
  • Wykowska, Agnieszka Kajopoulos, Jasmin Obando-LeitÛn, Miguel Chauhan, SushilSingh Cabibihan, John-John Cheng, Gordon: Humans are Well Tuned to Detecting Agents Among Non-agents: Examining the Sensitivity of Human Perception to Behavioral Characteristics of Intentional Systems. International Journal of Social Robotics, Vol.5, Number 4, 7 (5), 2015, 767-781 more… BibTeX Full text ( DOI )
  • Wykowska, Agnieszka Kajopoulos, Jasmin Ramirez-Amaro, Karinne Cheng, Gordon: Autistic traits and sensitivity to human-like features of robot behavior. Interaction Studies Vol 16 (2), 2015, 219 -248 more… BibTeX Full text ( DOI )

2014

  • A. Lin, D. Schwarz, R. Sellaouti, S. Shokur, R. C. Moioli, F. L. Brasil, K. R. Fast, N. A. Peretti, A. Takigami, S. Gallo, K. Lyons, P. Mittendorfer, M. Lebedev, S. Joshi, G. Cheng, E. Morya, A. Rudolph, M. Nicolelis: The walk again project: Brain-controlled exoskeleton locomotion. Neuroscience Meeting 2014, 2014 more… BibTeX Full text (mediaTUM)
  • Andreas Holzbach and Gordon Cheng: A fast and scalable system for visual attention, object based attention and object recognition for humanoid robots. IEEE-RAS International Conference on Humanoid Robots, 2014 more… BibTeX Full text (mediaTUM)
  • Andreas Holzbach, Gordon Cheng: A Neuronal-inspired Computational Architecture for Spatio-Temporal Visual Processing. Journal of Biological Cybernetics, 2014 more… BibTeX
  • Andreas Holzbach, Gordon Cheng: A scalable and efficient Method for Salient Region Detection Using Sampled Template Collation. IEEE International Conference on Image Processing, 2014ICIP 2014 more… BibTeX Full text (mediaTUM)
  • Andreas Holzbach, Gordon Cheng: Sampled Template Collation for Simulating Visual Attention and Object-Based Selection. Bernstein Conference, 2014 more… BibTeX Full text (mediaTUM)
  • Brennand Pierce and Gordon Cheng: Versatile Modular Electronics for Rapid Design and Development of Humanoid Robotic Subsystems. IEEE/ASME International Conference on Advanced Intelligent Mechatronics (AIM2014), 2014AIM2014 more… BibTeX Full text (mediaTUM)
  • Brennand Pierce and Gordon Cheng: Realising Herbert: An Affordable Design Approach of an Anthropometrically Correct Compliant Humanoid Robot. Proceedings of the 14th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2014), 2014Humanoid 2014 more… BibTeX Full text (mediaTUM)
  • E. Dean-León and G. Cheng,: A new method for solving 6D Image-Based Visual Servoing with virtual composite camera model. Humanoid Robots, 201414th IEEE-RAS International Conference on Humanoid Robots, 519-525 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Emmanuel Dean-Leon and Gordon Cheng: A new method for solving 6D Image-Based Visual Servoing with Virtual Composite camera model. IEEE-RAS International Conference on Humanoid Robots, 2014 more… BibTeX Full text (mediaTUM)
  • Erhard Wieser and Gordon Cheng: Predictive Action Selector for Generating Meaningful Robot Behaviour from Minimum Amount of Samples. IEEE International Conference on Development and Learning and on Epigenetic Robotics (ICDL-EpiRob), 2014 more… BibTeX Full text (mediaTUM)
  • Ewald Lutscher and Gordon Cheng: Constrained Manipulation in Unstructured Environment Utilizing Hierarchical Task Specification for Indirect Force Controlled Robots. ICRA 2014, 2014 more… BibTeX Full text (mediaTUM)
  • Ewald Lutscher, Gordon Cheng: Hierarchical Inequality Task Specification for Indirect Force Controlled Robots using Quadratic Programming. IEEE/RSJ International Conference on Intelligent Robots and Systems , 2014 more… BibTeX Full text (mediaTUM)
  • Gordon Cheng: Humanoid Robotics and Neuroscience: Science, Engineering and Society. Frontiers in Neuroengineering Series. CRC Press, 2014 more… BibTeX
  • Gordon Cheng, Andreas Holzbach: A concurrent real-time biologically-inspired visual object recognition system. IEEE International Conference on Robotics and Automation (ICRA 2014) May 31 - June 7, 2014 Hong Kong, China , 2014 more… BibTeX Full text (mediaTUM)
  • John Nassour, Patrick Hénaff, Fathi Ben Ouezdou and Gordon Cheng: Multi-Layered Multi-Pattern CPG for Adaptive Locomotion of Humanoid Robots. Journal of Biological Cybernetics, 2014 more… BibTeX
  • Karinne Ramirez Amaro, Ewald Lutscher, Andreas Holzbach, Gordon Cheng: iCub@ICS-TUM: Semantic Reasoning, Constrained Manipulation and Humanoid Vision enable on the iCub. ICRA 2014, 2014 more… BibTeX
  • Karinne Ramirez Amaro, Michael Beetz and Gordon Cheng: Automatic Segmentation and Recognition of Human Activities from Observation based on Semantic Reasoning. IEEE/RSJ International Conference on Intelligent Robots and Systems , 2014 more… BibTeX Full text (mediaTUM)
  • Karinne Ramirez Amaro, Michael Beetz and Gordon Cheng: Understanding Human Activities from Observation via Semantic Reasoning for Humanoid Robots. IROS Workshop on AI and Robotics, 2014IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2014), more… BibTeX Full text (mediaTUM)
  • Karinne Ramirez Amaro, Tetsunari Inamura, Emmanuel Dean-Leon, Michael Beetz and Gordon Cheng: Bootstrapping Humanoid Robot Skills by Extracting Semantic Representations of Human-like Activities from Virtual Reality. IEEE-RAS International Conference on Humanoid Robots, 2014 more… BibTeX Full text (mediaTUM)
  • Mohsen Kaboli, Philipp Mittendorfer, Vincent Hugel and Gordon Cheng: Humanoids Learn Object Properties From Robust Tactile Feature Descriptors vai Multi-Modal Artificial Skin. IEEE-RAS International Conference on Humanoid Robots, 2014 more… BibTeX Full text (mediaTUM)
  • S. Shokur, S. Gallo, J. Olivier, N. Peretti, A. Takigami, A. L. Lin, K. Fast, R. Moioli, F. Brasil, E. Morya, G. Cheng, H. Bleuler, M. A. L. Nicolelis: The walk again project (wap): Sensory feedback for brain controlled exoskeleton. Neuroscience Meeting 2014, 2014 more… BibTeX Full text (mediaTUM)
  • Stefan Ehrlich, Agnieszka Wykowska, Karinne Ramirez-Amaro, Gordon Cheng: When to engage in interaction - and how? EEG-based enhancement of robot’s ability to sense social signals in HRI. IEEE-RAS International Conference on Humanoid Robots, 2014 more… BibTeX Full text (mediaTUM)

2013

  • Andreas Holzbach, Gordon Cheng: A Biologically-Motivated Approach to Online Learning of a Dictionary of Features from Natural Images for Computational Object Recognition. Bernstein Conference 2013, Tübingen, Germany, September 24 – 27. 2013 more… BibTeX Full text (mediaTUM)
  • Andreas Holzbach, Gordon Cheng: Enhancing Object Recognition for Humanoid Robots through Time-Awareness. IEEE-RAS International Conference on Humanoid Robots, 2013 more… BibTeX Full text (mediaTUM)
  • Ewald Lutscher and Gordon Cheng: A Practical Approach to Generalized Hierarchical Task Specification for Indirect Force Controlled Robots. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013 more… BibTeX Full text (mediaTUM)
  • John Nassour, Vincent Hugel, Fethi Benouezdou and Gordon Cheng: Qualitative Adaptive Reward Learning with Success Failure Maps: Applied to Humanoid Robot Walking. IEEE Transactions on Neural Networks and Learning Systems Volume: 24, Issue: 1, 2013, 81-93 more… BibTeX
  • Karinne Ramirez Amaro, Eun-Sol Kim, Jiseob Kim, Byoung-Tak Zhang, Michael Beetz, Gordon Cheng: Enhancing Human Action Recognition through Spatio-temporal Feature Learning and Semantic Rules. IEEE-RAS International Conference on Humanoid Robots, 2013 more… BibTeX Full text (mediaTUM)
  • Karinne Ramirez Amaro, Eun-Sol Kim, Jiseob Kim, Byoung-Tak Zhang, Michael Beetz, Gordon Cheng: Enhancing Human Action Recognition through Spatio-temporal Feature Learning and Semantic Rules. Humanoid Robots, 2013, 13th IEEE-RAS International Conference, 2013 more… BibTeX Full text (mediaTUM)
  • Karinne Ramirez Amaro, Michael Beetz and Gordon Cheng: Extracting Semantic Rules from Human Observations. 2013 IEEE International Conference on Robotics and Automation, May 6-10, 2013, 2013 ICRA'13 workshop: Semantics, Identification and Control of Robot-Human-Environment Interaction more… BibTeX Full text (mediaTUM)
  • Karinne Ramirez Amaro, Michael Beetz and Gordon Cheng: Extracting Semantic Rules from Human Observations. 2013 IEEE International Conference on Robotics and Automation, May 6-10, 2013, 2013 ICRA'13 workshop: Semantics, Identification and Control of Robot-Human-Environment Interaction more… BibTeX Full text (mediaTUM)
  • Philipp Mittendorfer, Eiichi Yoshida, Thomas Moulard and Gordon Cheng: A General Tactile Approach for Grasping Unknown Objects with a Humanoid Robot. 2013 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2013 more… BibTeX Full text (mediaTUM)
  • Philipp Mittendorfer, Gordon Cheng: From a multi-modal intelligent cell to a self-organising robotic skin. IEEE International Conference on Robotics and Automation, 2013Workshop on Electronic Skin more… BibTeX Full text (mediaTUM)
  • Ravinder S. Dahiya, Philipp Mittendorfer, Maurizio Valle, Gordon Cheng and Vladimir Lumelsky: Directions Towards Effective Utilization of Tactile Skin - A Review. IEEE SENSORS JOURNAL, 2013, 2013 more… BibTeX
  • Stefan Ehrlich, Cuntai Guan and Gordon Cheng.: Monitoring emotional states in the loop and its potential applications. Biomedical Signal Analysis Conference, Rio de Janeiro, Brazil, October 21 – 24, 2013 2013 more… BibTeX Full text (mediaTUM)
  • Stefan Ehrlich, Cuntai Guan and Gordon Cheng.: Closed-loop Interaction with Affective Brain-Music Interface. Bernstein Conference on Computational Neuroscience 2013 more… BibTeX Full text (mediaTUM)
  • Takaaki Kuratate, Marcia Riley, Gordon Cheng: Effects of 3D Shape and Texture on Gender Identification for a Retro-Projected Face Screen. International Journal of Social Robotics, Vol.5, Number 4, Vol. 5 Number 4 (Vol. 5 Number 4), 2013, pp.627-639 more… BibTeX Full text ( DOI ) Full text (mediaTUM)

2012

  • Erhard Wieser and Gordon Cheng: Forming Goal-directed Memory for Cognitive Development. Proceedings of Humanoids 2012 Workshop on Developmental Robotics: Can developmental robotics yield human-like cognitive abilities?, IEEE-RAS International Conference on Humanoid Robots, 2012 more… BibTeX Full text (mediaTUM)
  • Akinobu Maejima, Takaaki Kuratate, Brennand Pierce, Shigeo Morishima and Gordon Cheng: Automatic Face Replacement for a Humanoid Robot with 3D Face Shape Display. Proceedings of the 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012), 2012, 469 - 474 more… BibTeX Full text (mediaTUM)
  • Akinobu Maejima, Takaaki Kuratate, Brennand Pierce, Gordon Cheng, Shigeo Morishima: Automatic Texture Generation for Face-Shaped Display from a Frontal Face Image. Proceedings of the Media Computing Conference 2012, Tokyo, Japan, June 23-34, 2012., 2012 more… BibTeX Full text (mediaTUM)
  • Brennand Pierce, Takaaki Kuratate, Akinobu Maejima, Shigeo Morishima, Yosuke Matsusaka, Marko Durkovic, Klaus Diepold, Gordon Cheng.: Development of an integrated multi-modal communication robotic face. Proceedings of the 2012 IEEE International Workshop on Advanced Robotics and its Social Impacts (ARSO 2012), 2012, 101-102 more… BibTeX Full text (mediaTUM)
  • Brennand Pierce, Takaaki Kuratate, Christian Vogl and Gordon Cheng: "Mask-Bot 2i": An active customisable Robotic Head with Interchangeable Face. Proceedings of the 12th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2012) , 2012, 520 - 525 more… BibTeX Full text (mediaTUM)
  • Ewald Lutscher, Gordon Cheng: Operating Unknown Constrained Mechanisms with Compliant Robots. ROBOTIK 2012, 2012 more… BibTeX Full text (mediaTUM)
  • Ewald Lutscher, Gordon Cheng: A Set-Point-Generator for Indirect-Force-Controlled Manipulators Operating Unknown Constrained Mechanisms. IROS 2012, 2012 more… BibTeX Full text (mediaTUM)
  • Fabian Gerlinghaus, Brennand Pierce, Torsten Metzler, Iestyn Jowers, Kristina Shea and Gordon Cheng: Design and Emotional Expressiveness of Gertie (An Open Hardware Robotic Desk Lamp). RO-MAN: The 21st IEEE International Symposium on Robot and Human Interactive Communication, 2012, 1129 - 1134 more… BibTeX Full text (mediaTUM)
  • John Nassour, Fathi Ben Ouezdou and Gordon Cheng: Exploiting Past Success Failure for Effective and Robust Task Learning. Proceedings of the 5th International Conference on Cognitive Systems (CogSys2012), 2012, poster No.81 more… BibTeX Full text (mediaTUM)
  • John Nassour, Gordon Cheng: Cognitive Development Through a Neurologically-Based Learning Framework. International Conference on Humanoid Robots, 2012Workshop on Developmental Robotics more… BibTeX Full text (mediaTUM)
  • P. Mittendorfer and G. Cheng: IEEE/RSJ International Conference on Intelligent Robots and Systems3D Surface Reconstruction for Robotic Body Parts with Artificial Skins. IEEE/RSJ International Conference on Intelligent Robots and Systems , 2012 more… BibTeX Full text (mediaTUM)
  • P. Mittendorfer and G. Cheng: Integrating Discrete Normal Force Cells into Multi-modal Artificial Skin. 12th IEEE-RAS International Conference on Humanoid Robots , 2012 more… BibTeX Full text (mediaTUM)
  • P. Mittendorfer and G. Cheng: Open-loop Self-calibration of Articulated Robots with Artificial Skins. IEEE International Conference on Robotics and Automation, 2012, 4539-4545P. Mittendorfer and G. Cheng, pp.145-149, May 2012 2012 IEEE International Conference on Robotics and Automation P. Mittendorfer and G. Cheng, pp.145-149, May 2012 2012 IEEE International Conference on Robotics and Automation more… BibTeX Full text (mediaTUM)
  • P. Mittendorfer and G. Cheng: Uniform Cellular Design of Artificial Robotic Skin. 7th German Conference on Robotics, 2012, 145-149 more… BibTeX Full text (mediaTUM)
  • Takaaki Kuratate, Brennand Pierce, Christian Vogl, Akinobu Maejima, Yosuke Matsusaka, Gordon Cheng: Maskbot as a communication interface. Proceedings of the 5th International Conference on Cognitive Systems (CogSys2012), Vienna, Austria, Feb 22-23, 2012., 2012, 50 more… BibTeX Full text (mediaTUM)
  • Takaaki Kuratate, Marcia Riley, Brennand Pierce and Gordon Cheng: Gender identification Bias Induced with Texture Images on a Life Size Retro-Projected Face Screen. Proceedings of the 21st IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN 2012), Paris, France,, 2012, 43 - 48 more… BibTeX Full text (mediaTUM)
  • Thierry Chaminade, Delphine Rosset, David Da Fonseca, Bruno Nazarian, Ewald Lutscher, Gordon Cheng, Christine Deruelle: How do we think machines think? An fMRI study of alleged competition with an artificial intelligence. Frontiers in human neuroscience 6, 2012 more… BibTeX

2011

  • Erhard Wieser, Philipp Mittendorfer, Gordon Cheng: Accelerometer based robotic Joint Orientation Estimation. 11th IEEE-RAS International Conference on Humanoid Robots, 2011, 67-74 more… BibTeX Full text (mediaTUM)
  • John Nassour and Gordon Cheng: Experience-based Learning Mechanism with a Concept of Vigilance. BC11: Computational Neuroscience & Neurotechnology Bernstein Conference & Neurex Annual Meeting, October 4-6, 2011, 2011 more… BibTeX Full text (mediaTUM)
  • John Nassour, Patrick Heaff, Fathi Ben Ouezdou and Gordon Cheng: Bipedal Locomotion Control with Rhythmic Neural Circuits. International workshop on Bio-Inspired Robots (BionicRobotsWorkshop 2011), 2011 more… BibTeX Full text (mediaTUM)
  • P. Mittendorfer and G. Cheng: Humanoid Multi-Modal Tactile Sensing Modules. IEEE TRO - Special Issue on Robotic Sense of Touch , 2011, 401-410 more… BibTeX Full text (mediaTUM)
  • P. Mittendorfer and G. Cheng: Self-Organizing Sensory-Motor Map for Low-Level Touch Reactions. 11th IEEE-RAS International Conference on Humanoid Robots, 2011, 59-66 more… BibTeX Full text (mediaTUM)
  • Philipp Mittendorfer and Gordon Cheng: Humanoid Multi-Modal Tactile Sensing Modules. IEEE Transactions on Robotics (T-RO), Volume: 27, Issue:3, 401 - 410, 2011 more… BibTeX Full text (mediaTUM)
  • Samer Alfayad, Fethi B. Ouezdou, Faycal Namoun, Gordon Cheng: High performance integrated electro-hydraulic actuator for robotics – Part I: Principle, prototype design and first experiments. Sensors and Actuators A: Physical, (Issue 1), 2011, Pages 115-123 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Samer Alfayad, Fethi B. Ouezdou, Faycal Namoun, Gordon Cheng: High performance Integrated Electro-Hydraulic Actuator for robotics. Part II: Theoretical modelling, simulation, control & comparison with real measurements. Sensors and Actuators A: Physical, Volume 169 (Issue 1), 2011, 124-132 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Takaaki Kuratate and Brennand Pierce and Gordon Cheng: `Mask-bot''- a life-size talking head animated robot for AV speech and human-robot communication research. Proceedings of the International Conference on Auditory-Visual Speech Processing (AVSP 2011), 2011, 111-116 more… BibTeX Full text (mediaTUM)
  • Takaaki Kuratate, Yosuke Matsusaka, Brennand Pierce, and Gordon Cheng: mask-bot: a life-size robot head using talking head animation for human-robot communication. Humanoids 2011, 2011, pp.99–104 more… BibTeX Full text (mediaTUM)

2010

  • Ewald Lutscher, Martin Lawitzky, Gordon Cheng and Sandra Hirche: A Control Strategy for Operating Unknown Constrained Mechanisms. IEEE International Conference on Robotics and Automation. Anchorage, USA. , 2010 more… BibTeX Full text (mediaTUM)
  • Federico Ruiz-Ugalde and Gordon Cheng and Michael Beetz: Prediction of action outcomes using an object model. 2010 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2010, 1708-1713 more… BibTeX Full text (mediaTUM)
  • John Nassour, Patrick Henaff, Fathi Ben Ouezdou and Gordon Cheng: Adaptive Locomotive Behaviors of a Biped Robot: Patterns Generation and Classification. SIMULATION OF ADAPTIVE BEHAVIOR (SAB'10), 2010 more… BibTeX Full text (mediaTUM)

2009

  • Thierry Chaminade, Gordon Cheng: Social cognitive neuroscience and humanoid robotics. Journal of Physiology-Paris 103 (3-5), 2009, 286-295 more… BibTeX

2008

  • Gen Endo, Jun Morimoto, Takamitsu Matsubara, Jun Nakanishi, Gordon Cheng: Learning CPG-based biped locomotion with a policy gradient method: Application to a humanoid robot. The International Journal of Robotics Research 2 (27), 2008, 213-228 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Aleš Ude, Damir Omrčen, Gordon Cheng: Making object learning and recognition an active process. International Journal of Humanoid Robotics 5 (02), 2008, 267-286 more… BibTeX Full text (mediaTUM)
  • Jun Morimoto, Gen Endo, Jun Nakanishi, Gordon Cheng: A biologically inspired biped locomotion strategy for humanoid robots: Modulation of sinusoidal patterns by a coupled oscillator model. IEEE Transactions on Robotics, IEEE Transactions on Robotics, 2008, 185-191 more… BibTeX Full text (mediaTUM)
  • Michael Mistry, Jun Nakanishi, Gordon Cheng, Stefan Schaal: Inverse kinematics with floating base and constraints for full body humanoid robot control. Humanoids 2008-8th IEEE-RAS International Conference on Humanoid Robots, 2008, 22-27 more… BibTeX
  • Thierry Chaminade, Erhan Oztop, Gordon Cheng, Mitsuo Kawato: From self-observation to imitation: Visuomotor association on a robotic hand. Brain research bulletin 75 (6), 2008, 775-784 more… BibTeX Full text (mediaTUM)

2007

  • Gordon Cheng, Sang-Ho Hyon, Jun Morimoto, Aleš Ude, Joshua G Hale, Glenn Colvin, Wayco Scroggin, Stephen C Jacobsen: CB: A humanoid research platform for exploring neuroscience. Advanced Robotics 10 (21), 2007, 1097-1114 more… BibTeX Full text (mediaTUM)
  • Sang-Ho Hyon, Gordon Cheng: Disturbance rejection for biped humanoids. 2007 IEEE International Conference on Robotics and Automation, 2007, 2668-2675 more… BibTeX Full text (mediaTUM)
  • Sang-Ho Hyon, Joshua G Hale, Gordon Cheng: Full-body compliant human–humanoid interaction: balancing in the presence of unknown external forces. IEEE Transactions on Robotics 5 (23), 2007 more… BibTeX Full text (mediaTUM)
  • Vlad M Trifa, Ansgar Koene, Jan Morén, Gordon Cheng: Real-time acoustic source localization in noisy environments for human-robot multimodal interaction. RO-MAN 2007-The 16th IEEE International Symposium on Robot and Human Interactive Communication, IEEE, 2007, 393-398 more… BibTeX Full text (mediaTUM)

2006

  • Ales Ude, Chris Gaskett, Gordon Cheng: Foveated vision systems with two cameras per eye. Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., 2006, 3457-3462 more… BibTeX Full text (mediaTUM)
  • Darrin C Bentivegna, Christopher G Atkeson, Gordon Cheng: Learning similar tasks from observation and practice. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, 2006, 2677-2683 more… BibTeX Full text (mediaTUM)
  • Jun Morimoto, Gen Endo, Jun Nakanishi, S Hyon, Gordon Cheng, Darrin Bentivegna, Christopher G Atkeson: Modulation of simple sinusoidal patterns by a coupled oscillator model for biped walking. ICRA 2006, 2006Proceedings 2006 IEEE International Conference on Robotics and Automation, 2006. ICRA 2006., 1579-1584 more… BibTeX Full text (mediaTUM)
  • Sang-Ho Hyon, Gordon Cheng: Gravity compensation and full-body balancing for humanoid robots. 2006 6th IEEE-RAS International Conference on Humanoid Robots, IEEE, 2006, 214-221 more… BibTeX
  • Sang-Ho Hyon, Gordon Cheng: Passivity-based full-body force control for humanoids and application to dynamic balancing and locomotion. 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2006, 4915-4922 more… BibTeX Full text (mediaTUM)
  • Thomas Gumpp, Pedram Azad, Kai Welke, Erhan Oztop, Rudiger Dillmann, Gordon Cheng: Unconstrained real-time markerless hand tracking for humanoid interaction. 2006 6th IEEE-RAS International Conference on Humanoid Robots, IEEE, 2006, 88-93 more… BibTeX Full text (mediaTUM)

2005

  • Ales Ude, Valentin Wyart, Li-Heng Lin, Gordon Cheng: Distributed visual attention on a humanoid robot. 5th IEEE-RAS International Conference on Humanoid Robots, 2005., 2005, 381-386 more… BibTeX Full text (mediaTUM)
  • Authors Gen Endo, Jun Morimoto, Takamitsu Matsubara, Jun Nakanishi, Gordon Cheng: Learning cpg sensory feedback with policy gradient for biped locomotion for a full-body humanoid. Proceedings of the Twentieth National Conference on Artificial Intelligence, Menlo Park, CA; Cambridge, MA; London; AAAI Press; MIT Press, 2005 more… BibTeX
  • Erhan Oztop, David W Franklin, Thierry Chaminade, Gordon Cheng: Human–humanoid interaction: is a humanoid robot perceived as a human? International Journal of Humanoid Robotics 2 (04), 2005, 537-559 more… BibTeX Full text (mediaTUM)
  • Gen Endo, Jun Nakanishi, Jun Morimoto, Gordon Cheng: Experimental studies of a neural oscillator for biped locomotion with QRIO. Proceedings of the 2005 IEEE international conference on robotics and automation, 2005, 596-602 more… BibTeX Full text (mediaTUM)
  • Jun Morimoto, Jun Nakanishi, Gen Endo, Gordon Cheng, Christopher G Atkeson, Garth Zeglin: Poincare-map-based reinforcement learning for biped walking. Proceedings of the 2005 IEEE International Conference on Robotics and Automation, 2005, 2381-2386 more… BibTeX Full text (mediaTUM)
  • Thierry Chaminade, David W Franklin, Erhan Oztop, Gordon Cheng: Motor interference between humans and humanoid robots: Effect of biological and artificial motion. Proceedings. The 4th International Conference on Development and Learning, 2005, 2005, 96-101 more… BibTeX Full text (mediaTUM)

2004

  • Aude Billard, Yann Epars, Sylvain Calinon, Stefan Schaal, Gordon Cheng: Discovering optimal imitation strategies. Robotics and autonomous systems 2-3 (47), 2004, 69-77 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Darrin C Bentivegna, Christopher G Atkeson, Ales Ude, Gordon Cheng: Learning to act from observation and practice. International Journal of Humanoid Robotics (1/04), 2004, 585-611 more… BibTeX Full text (mediaTUM)
  • Darrin C Bentivegna, Christopher G Atkeson, Gordon Cheng: Learning tasks from observation and practice. Robotics and Autonomous Systems 47 (2-3), 2004, 163-169 more… BibTeX Full text ( DOI ) Full text (mediaTUM)
  • Gen Endo, Jun Morimoto, Jun Nakanishi, Gordon Cheng: An empirical exploration of a neural oscillator for biped locomotion control. International Conference on Robotics and Automation, 2004. Proceedings. ICRA'04. 2004, 2004, 3036-3042 more… BibTeX Full text (mediaTUM)
  • Jun Morimoto, Gordon Cheng, Christopher G Atkeson, Garth Zeglin: A simple reinforcement learning algorithm for biped walking. IEEE International Conference on Robotics and Automation, 2004. Proceedings. ICRA'04. 2004, 2004, 3030-3035 more… BibTeX Full text (mediaTUM)
  • Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, Mitsuo Kawato: Learning from demonstration and adaptation of biped locomotion. Robotics and autonomous systems 47 (2-3), 2004, 79-91 more… BibTeX Full text (mediaTUM)
  • Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, Mitsuo Kawato: A framework for learning biped locomotion with dynamical movement primitives. 4th IEEE/RAS International Conference on Humanoid Robots, 2004, IEEE, 2004, 925-940 more… BibTeX Full text (mediaTUM)
  • Pedram Azad, Ales Ude, Rüdiger Dillmann, Gordon Cheng: A full body human motion capture system using particle filtering and on-the-fly edge detection. 4th IEEE/RAS International Conference on Humanoid Robots, 2004., IEEE, 2004, 941-959 more… BibTeX Full text (mediaTUM)

2003

  • Jun Nakanishi, Jun Morimoto, Gen Endo, Gordon Cheng, Stefan Schaal, Mitsuo Kawato: Learning from demonstration and adaptation of biped locomotion with dynamical movement primitives. Workshop on Robot Programming by Demonstration, IEEE/RSJ International Conference on Intelligent Robots and Systems, IEEE, 2003 more… BibTeX

2002

  • Darrin C Bentivegna, Ales Ude, Christopher G Atkeson, Gordon Cheng: Humanoid robot learning and game playing using PC-based vision. IEEE/RSJ international conference on intelligent robots and systems, IEEE, 2002, 2449-2454 more… BibTeX Full text (mediaTUM)

2001

  • Gordon Cheng, Akihiko Nagakubo, Yasuo Kuniyoshi: Continuous humanoid interaction:: An integrated perspective—gaining adaptivity, redundancy, flexibility—in one. Robotics and Autonomous systems (37/2-3), 2001, 161-183 more… BibTeX Full text (mediaTUM)
  • Gordon Cheng, Alexander Zelinsky: Supervised autonomy: A framework for human-robot systems development. Autonomous Robots 10 (3), 2001, 251-266 more… BibTeX Full text (mediaTUM)

2000

  • Gordon Cheng, Yasuo Kuniyoshi: Complex continuous meaningful humanoid interaction: A multi sensory-cue based approach. Proceedings 2000 ICRA. Millennium Conference. IEEE International Conference on Robotics and Automation., 2000, 2235-2242 more… BibTeX Full text (mediaTUM)
  • Olivier Stasse, Yasuo Kuniyoshi, Gordon Cheng: Development of a biologically inspired real-time visual attention system. International Workshop on Biologically Motivated Computer Vision, 2000, 150-159 more… BibTeX

1998

  • Jung D., Cheng G., Zelinsky A.: Experiments in realising cooperation between autonomous mobile robots. In: Casals A., de Almeida A.T. (eds) (Ed.): Experimental Robotics V. Lecture Notes in Control and Information Sciences. Springer, 1998, 609-620 more… BibTeX Full text ( DOI )

1996

  • Gordon Cheng, Alexander Zelinsky: Real-time visual behaviours for navigating a mobile robot. Proceedings of IEEE/RSJ International Conference on Intelligent Robots and Systems. IROS'96, 1996, 973-980 more… BibTeX Full text (mediaTUM)
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