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Manuel Baum

Lupe


Room: MAR 5.065
Telephone: +49.30.314-73119
Fax: +4930 314-21116
Office hours: On request    

Research interests

A large part of the robotics community develops specialized tools to solve specific problems. If we want to compose these tools into a larger system that behaves puroposefully, then we need to understand how these methods can interact with each other. I want to find out how we can organize such processes that generate behavior.

The domain in which I examine this is robotic manipulation. Right now, I am interested in the relation between motion planning and motion control. These are problems and methods on different scales of time and space, yet time and space are continuous, so a hard cut between such methods may be deficient.

I believe that a system which generates behavior should reflect the discreteness and continuousness of its problem setting. The analysis and decomposition of problem structure can naturally lead to a suitable decomposition of a system that acts to solve such a problem. I try to understand how such decomposition can be done automatically.

A first step towards this was my master's thesis where I worked with MMC, a kind of neural network that decomposes the computation of robot kinematics into the simultaneous solution of multiple smaller problems.

I am also interested in pattern formation, procedural geometry, drawing and painting.

Publications

Opening a Lockbox through Physical Exploration
Citation key baum17humanoids
Author Manuel Baum and Matthew Bernstein and Roberto Martín-Martín and Sebastian Höfer and Johannes Kulick and Marc Toussaint and Alex Kacelnik and Oliver Brock
Title of Book Proceedings of the IEEE International Conference on Humanoid Robots (Humanoids)
Year 2017
DOI 10.1109/HUMANOIDS.2017.8246913
Note http://www.robotics.tu-berlin.de/fileadmin/fg170/Publikationen_pdf/baum_17_humanoids.pdf
Link to publication Link to original publication Download Bibtex entry

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Administration

Elizabeth Ball
Tel. +49 30 314-73 110
Fax +49 30 314-21 116
Room MAR 5.032

Address

TU Berlin
Fakultät IV, MAR 5-1
Marchstraße 23
10587 Berlin
Germany