Based on the experience gained with the construction and operation of the first version of the µAUV, this project aims at developing a next-generation µAUV, a novel, robust, and powerful µAUV². As far as possible, problems regarding density, computing capacity, and thrust should be eliminated by then.

The CManipulator-Project deals with the development, the evaluation, and the construction of the first autonomous dual manipulator system for inspection and service tasks. In this project, methods for visual detection of underwater objects and for autonomous manipulator control will be developed. It is planned to use this system for future underwater inspection and maintenance tasks which include autonomous picking, placing, and plugging.

The aim of the project is the development of a next-generation underwater snake, focussing on construction, production, and test of the propulsion components of the robot's spinal column. Above all, the underwater snake is a swimming system, i.e., during operation, the robot remains close to the surface while, if required, it may dive up to a depth of 3 m. As compared to customary water propellers, the turbulence of the system is significantly reduced due to an undulation propulsion. Thus it is possible to use this robot in bodies of water with strong plant growth or near sensitive devices or edifices.

VI-Bot integrates approaches from the areas of robotics, neurosciences and human-machine interaction into an innovative system designed for remote control of robotic systems. A novel exoskeleton with integrated passive safety, using adaptive and behaviour-predicting operator monitoring by means of online EEG analysis, and comprehensive virtual immersion and situational presentation of information and operational options, will convey an 'on site-feeling' to the telemanipulating operator.

Exploration of the world's oceans and the ocean floor has barely scratched the surface. One explanation for this are the harsh conditions encountered by scientific instruments when deployed into the depths of the sea. The extreme pressures, the total darkness, the need to communicate via broad band (possible only over cable), and the high logistical costs all complicate the deep-sea use of technical systems.

State-of-the-art sensor technology merged with sonar and inertial system's data are employed to develop a system allowing the autonomous hovering of an ROV in front of a structure. It will be used to support ROV pilots during handling tasks in that it enables them to position and hover an ROV in relation to an object or a structure.

The MEHEN project is a continuous internal project dealing with the evaluation of undulating systems during underwater application. The current MEHEN configuration features 8 degrees of freedom and floats and dives through remote-control. Current work deals with the integration of distance and pressure sensors in order to facilitate autonomous diving and floating.
Next steps will be the realization of GPS-based navigation during floating (surface trip) and the integration of a GPRS-modem, which will transmit the current position as well as further sensor data to a base station.

Currently, the DFKI µAUV is the world's smallest AUV that is acting completely autonomously. It was built to demonstrate at the CeBIT 2007 to what extent artificial intelligence methods may be used in marine technology. The µAUV features four active degrees of freedom as well as distance sensors and a pressure gauge at each of the four sides. It is controlled by a multi-layered behaviour-based approach and can evade obstacles as well as independently steer for sources of a signal.

On one hand, the SeaBotix LBV 150B2 serves as an experimental unit for the development and testing of novel sensor and controlling systems, and on the other hand as a service system for underwater  tasks in the DFKI testbed.
In spite of its size, additional gear may be easily integrated into the LBV 150 without damaging its pressure hull. Thus it is with respect to size and handling the most economical device for the desired application scenario.

The aim of this project (funded by the DLR and BIG Bremen) is the evaluation of state-of-the-art robot technologies for future cooperative, heterogeneous, extraterrestrial missions with reconfigurable robots. In cooperation with our partners, a reconfigurable robot system consisting of a Lander (OHB) with manipulator (EADS Astrium), a Rover (EADS Astrium), and a climbing robot (DFKI) will be developed based on already existing robot systems. Its versatility and robustness will be tested and demonstrated in a replication of a crater exploration scenario.

The goal of the "SpaceClimber" project is the development of a biologically inspired, energy-efficient and adaptively free-climbing robot for steep slopes. This project builds on the experience of the ARAMIES project and the SCORPION project. SpaceClimber should prove that walking robotic systems present a solution for future missions on difficult terrain, in particular missions in craters or rock fissures. The robotic system that we intend to develop should be able to conquer irregular slopes of up to 80% and should be in a position to navigate with local autonomy using built-in sensors.

The aim of the project is an evaluation of concepts of robotic mining techniques to be applied in a future Regolith conveyor system, supporting current activities within the ERA-Star project AMOR. In the far future, not before 2025, the extraction of resources on the moon, e.g. in order to supply fuel for space vehicles, will be one essential goal of space exploration. Here, a cost-efficient and reliable mining technique for the collection of the regolith plays an important role. This project will help to select suitable components for this as well as for a suitable EDF (Earth Demonstration Facility).

The goal of the ARAMIES project is to develop and program a multifunctional, multi-degree of freedom, autonomous walking-robot for rough terrain. In particular, the project is focused on very steep and uneven terrain, e.g., canyon or crater walls.

In this study, a feasibility analysis was carried out concerning a rover- or crawler-based exploration of deep lunar craters at the moon poles. In this connection, current experience of previous missions as well as the latest state of the art regarding the development of planetary rovers were taken up. With the aid of a reference crater model, two reference systems (wheeled and legged) were compared with each other. Furthermore, the demands on these subsystems were defined and then specified in order to estimate mass, energy consumption, and volume of those systems that may be used in these craters.

This feasibility study investigated the demand for test and demonstration environments for mobile robot systems, the impact on the economic and scientific environment, as well as the technical realization of the respective test and demonstration installations and their costs.

The SCORPION is an eight-legged walking robot for hazardous outdoor-terrain. It uses a biomimetic control concept which allows a very flexible, robust walking behaviour in various terrains. The walking gaits of the SCORPION robot are based on research on walking patterns of real scorpions.
The SCORPION can be controlled in an intuitive way with an HMD, an optional voice control, and a data glove. Possible future fields of application include exploration of hazardous environments, e.g. in extraterrestial or SAR missions.

The ARAMIES robot comprises 26 active joints, 6 in each leg and 2 for actuating the head, which includes a camera, a laser scanner and two ultrasound distance sensors. In addition, the system has acceleration sensors and gyroscopes for stability control. Furthermore, each joint is equipped with absolute position sensors, current sensors, and temperature sensors.
One major advantage of the ARAMIES robot in comparison to other walking robots is its actuated claw which is used to get hold in steep inclinations. In laboratory tests the system was able to climb up a rung wall with a inclination of 70°.

The SCARABAEUS was built based on the experience gained in the experiments from the SCORPION and ARAMIES projects. The SCARABAEUS joints were developed in the ARAMIES project, featuring a continuous torque of 13 Nm (26 in peaks). They are controlled by 4 different board types similar to those used to control the ARAMIES robot.

The low-level software is based on bio-inspired locomotion control concepts. It features Bezier Curve-based rhythmic trajectories whose output is similar to the output of Central Pattern Generators (CPG). Additional reflex models ensure robust locomotion in hazardous terrain. The rhythmic patterns may directly define joint angles as well as Cartesian coordinates for the foot using an inverse kinematics layer developed for SCARABAEUS. The bio-inspired mechanisms are capable of controlling 18 joints and 6 claws with a Microcontroller.

One focus is the development of high-level artificial intelligence which allows the SCARABAEUS to detect obstacles and to navigate around them, especially in rocky slopes with up to 80% inclination. Due to the extreme environment, most planning and navigation solutions were not applicable. In natural environments, self-localization and path planning are much more challenging than indoors, e.g. offices with flat floor and structured surroundings.

The eight-legged walking robot SCORPION was developed for an application on unstructured, uneven terrain. Using a biomimetic control concept which allows high mobility and a very flexible, robust walking behaviour, it has already been successfully tested in various rough terrain. Possible applications in future extraterrestrial missions are evaluated, especially, using this robot concept for crater exploration.

Legged systems are of great interest to the field of robotics. Due to a large number of degrees of freedom they are able to adapt autonomously to a multitude of different terrains and obstacles.
In principle, due to their legs they have huge advantages in comparison to wheeled or tracked robots on rough terrain as well as on steep terrain.

To program the SCORPION a bio-inspired approach was developed. Simplified models of central pattern generators and reflex models are implemented in the SCORPION software. Evidence of both of these biological mechanisms can be found in almost all legged living beings as elementary neuronal controls. Furthermore, the walking gaits of the SCORPION are based on walking patterns of real scorpions.

This approach allows a very adaptive and robust control, thus presenting a very efficient and low-power solution to the problem of controlling simultaneously all of the 24 coupled joints of the SCORPION.

In this project we focus on the autonomous robotic handling of heterogeneous logistics goods. The uncertain nature of these goods prevents the use of standard portal robots employing typical gripping mechanisms. In the logistics domain, the process of unloading goods from a container presents challenges to an otherwise highly automated and efficiency-demanding area.

The project Semantic Product Memory (SemProM) aims at introducing a digital product memory for everyday items. In this context a mobile dual-arm robot will be developed for automatic manipulation and quality control of non-uniform products. The digital product memory provides the necessary information regarding size, weight, lifting points, etc. of the considered product. This project focuses on the combination of highly flexible grippers with the optimal placement of RFID antennae. The designed robot system will later be applied in areas of production and product distribution, where a flexible manipulation of products with varying shapes is needed.

The Mitsubishi PA10-7C is a seven degrees of freedom robot arm that serves to research on new approaches in the area of industrial robotics, mainly focusing on logistics and production scenarios. The robot's open architecture (hardware and software) provides the possibility to control and modify any aspect of the robot's behaviour as well as to include new sensor information to the control loop. As ultimate aim, the results of this research are to be brought to the industry.

The goal of the initial project go!CART is the preparation of a competence network in the field of civil aerial robots. The field of application for flying robots range from traffic supervision and remote inspection, like offshore constructions and wind energy plants, to disaster mitigation missions and fire-fighter support. Aerial robots are able to support rescue personnel by transmitting online video stream from above and also submitting sensor information, like from chemical sensors.

Based on an autonomous security robot developed at the DFKI, a cooperating robot system will be built. The prototype of the existing SentryBot is equipped with motion detectors based on radar and infrared, as well as with a camera. Currently, four such robots equipped with recharging units are being constructed for the surveillance of the Bremen Robotics Lab. Based on experience gained with our SentryBot study, a larger model has been developed which may be used outdoors and in areas which are more difficult to get to (i.e. staircases) and which features an infrared camera as well as a zoom camera.

The aim of the project is the implementation of a sensor module which is capable of covering position, speed, and orientation in a location over a certain period of time. The module consists of acceleration sensors, gyro sensors, and magnetometers, each of which is operating in all three degrees of freedom. In addition, an imaging sensor is employed which is directed at any structured plane surface. With the aid of optical flow methods, the generated image sequences will be processed, thus extracting a description of the sensor movement in relation to the plane surface. Combining the individual sensor data through sensor fusion techniques, a complete description of the condition will be achieved.

The DFKI-Lab Bremen is developing a team of autonomous mobile security robots which can be seamlessly integrated into existing security systems. Those mobile security robots are able to navigate autonomously and are energy-independent, since they are able to recharge their batteries without any user interference. The robot team is self-organizing and will provide an intuitive interface via voice control in the future.

Inspired by quadruped animals we developed the hybrid legged-wheeled robot ASGUARD. The robot was designed to be used in harsh outdoor environment with a focus on security and outdoor surveillance as well as on disaster mitigation missions.

The SentryBot Indoor is a mobile security robot which is able to patrol autonomously in indoor environments. With its security-related application sensors, the system is able to detect movement of persons and trigger an alarm.

The BRIO Project uses an altered BRIO labyrinth to investigate by means of
EEG and fMRI examinations brain processes that occur during learning and relearning. On the other hand, an artificial agent is supposed to be able to
play this game. Currently, this game may be controlled by hand, directly via
motors, or via motors and joystick. The integration of a number of sensors
(potentiometers, piezo sensors, cameras, and switches) makes it possible to record the behaviour of the player as well as that of the artificial agent and to compare these with each other. In addition, a physical simulation was written in order to simulate the playing and learning behaviour of the
artificial agent.

The Multibot project deals with the exploration of outdoor areas with teams of heterogeneous robots. Besides the coordination, the main goal ist to exploit the different features of the systems in such a manner that they lead to a richer representation of the environment compared to the use of teams of homogeneous robots. For example, a legged robot can gather additional information about the substrate it is walking on.

The SFB/TR8-[ReactiveSpace] project is concerned with the development of a hybrid learning architecture for spatial cognition based on the principles of embodied cognition. The architecture will be used in order to gain a fundamental understanding of higher levels of cognition, communication, and interaction with other agents. Moreover, the project seeks to experimentally determine the importance of proprioceptive and exteroceptive information in recognizing, classifying, and representing the environment in which the agent lives and operates. For achieving the goals of the project, we will use our complex legged robot, which possesses a rich repertoire of sensor and motor abilities.

The robot Pithekos II was developed at the DFKI as part of a master thesis and serves as an experimental platform for dynamic gaits. The four-legged walking machine has two degrees of freedom per leg.
The robot is remote-controlled and uses a galloping walking pattern to move forward. It is capable of performing tight turns on various surfaces via biologically inspired walking patterns.

The BIN HUR project deals with the locomotions control of a humanoid robot which, by means of a balance behavior, is in a position to keep its equilibrium in spite of external disturbances. A model for this biologically inspired approach is the human walking mechanism. As opposed to wheeled systems, BIN HUR features a complex morphology with a vast number of degrees of freedom, a prerequisite to act in flexible ways.