Research Interests

During my ongoing work towards the PhD degree, I am creating hardware and algorithms to enhance humanoid robots with a whole body sense of touch. Unlike most of the related work, I am mainly focusing on the systematic and technology independent aspects of the creation of a whole-body, multi-modal artificial skin. My work can such be easily integrated into upcoming technologies - like printed organic semiconductors or traditional system-on-chips.

In order to verify my ideas I created Cellul.A.R.Skin, a multi-modal cellular artificial skin. With Cellul.A.R.Skin I can realize self- and enriching robot interactions through the sense of touch and other inputs. My final goal is to make robots more sensitive and human-like – preparing them for future tasks in a shared environment with us.

Teaching in SS 2015

Courses

Humanoid Sensors und Actuators

Publications

2019

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 mehr… BibTeX Volltext ( DOI )

2017

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 mehr… BibTeX

2016

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 mehr… BibTeX Volltext (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 mehr… BibTeX Volltext ( DOI ) Volltext (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 mehr… BibTeX Volltext (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 mehr… BibTeX

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 mehr… BibTeX Volltext (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 mehr… BibTeX Volltext (mediaTUM)

2013

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 mehr… BibTeX Volltext (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 mehr… BibTeX Volltext (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 mehr… BibTeX

2012

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 mehr… BibTeX Volltext (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 mehr… BibTeX Volltext (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 mehr… BibTeX Volltext (mediaTUM)
P. Mittendorfer and G. Cheng: Uniform Cellular Design of Artificial Robotic Skin. 7th German Conference on Robotics, 2012, 145-149 mehr… BibTeX Volltext (mediaTUM)

2011

Erhard Wieser, Philipp Mittendorfer, Gordon Cheng: Accelerometer based robotic Joint Orientation Estimation. 11th IEEE-RAS International Conference on Humanoid Robots, 2011, 67-74 mehr… BibTeX Volltext (mediaTUM)
P. Mittendorfer and G. Cheng: Humanoid Multi-Modal Tactile Sensing Modules. IEEE TRO - Special Issue on Robotic Sense of Touch , 2011, 401-410 mehr… BibTeX Volltext (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 mehr… BibTeX Volltext (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 mehr… BibTeX Volltext (mediaTUM)