Global konsistente visuelle Lokalisation ohne vorgegebene Karte. - Udo Frese; M. Hörmann; Berthold Bäuml; Gerd Hirzinger (AMS, 1999)

Off-the-shelf vision for a robotic ball catcher. - Udo Frese; Berthold Bäuml; Steffen Haidacher; Günter Schreiber; Ingo Schäfer; Matthias Hähnle; Gerd Hirzinger (IROS, 2001)

Exact differential equation population dynamics for integrate-and-fire neurons. - Julian Eggert; Berthold Bäuml (NIPS, 2001)

Fast dynamic organization without short-term synaptic plasticity: A new view on Hebb's dynamical assemblies. - Julian Eggert; Berthold Bäuml; J. Leo van Hemmen (Neurocomputing, 2001)

A Humanoid Two-Arm System for Dexterous Manipulation. - Christian Ott 001; Oliver Eiberger; Werner Friedl; Berthold Bäuml; Ulrich Hillenbrand; Christoph Borst 001; Alin Albu-Schäffer; Bernhard Brunner; Heiko Hirschmüller; Simon Kielhöfer; Rainer Konietschke; Michael Suppa; et al. (Humanoids, 2006)

Agile Robot Development (aRD): A Pragmatic Approach to Robotic Software. - Gerd Hirzinger; Berthold Bäuml (IROS, 2006)

A humanoid upper body system for two-handed manipulation. - Christoph Borst 001; Christian Ott 001; Thomas Wimböck; Bernhard Brunner; Franziska Zacharias; Berthold Bäuml; Ulrich Hillenbrand; Sami Haddadin; Alin Albu-Schäffer; Gerd Hirzinger (ICRA, 2007)

When hard realtime matters: Software for complex mechatronic systems. - Berthold Bäuml; Gerd Hirzinger (Robotics Auton. Syst., 2008)

Kinematically optimal catching a flying ball with a hand-arm-system. - Berthold Bäuml; Thomas Wimböck; Gerd Hirzinger (IROS, 2010)

Catching flying balls with a mobile humanoid: System overview and design considerations. - Berthold Bäuml; Oliver Birbach; Thomas Wimböck; Udo Frese; Alexander Dietrich; Gerd Hirzinger (Humanoids, 2011)

Catching flying balls and preparing coffee: Humanoid Rollin'Justin performs dynamic and sensitive tasks. - Berthold Bäuml; Florian Schmidt 001; Thomas Wimböck; Oliver Birbach; Alexander Dietrich; Matthias Fuchs; Werner Friedl; Udo Frese; Christoph Borst 001; Markus Grebenstein; Oliver Eiberger; Gerd Hirzinger (ICRA, 2011)

Realtime perception for catching a flying ball with a mobile humanoid. - Oliver Birbach; Udo Frese; Berthold Bäuml (ICRA, 2011)

Optimal setup of the DLR MiroSurge telerobotic system for minimally invasive surgery. - Rainer Konietschke; Tim Bodenmüller; Christian Rink; Andrea Schwier; Berthold Bäuml; Gerd Hirzinger (ICRA, 2011)

Real-time swept volume and distance computation for self collision detection. - Holger Täubig; Berthold Bäuml; Udo Frese (IROS, 2011)

Real-time continuous collision detection for mobile manipulators - A general approach. - Holger Täubig; Berthold Bäuml; Udo Frese (Humanoids, 2012)

Automatic and self-contained calibration of a multi-sensorial humanoid's upper body. - Oliver Birbach; Berthold Bäuml; Udo Frese (ICRA, 2012)

The highly performant and realtime deterministic communication layer of the aRDx software framework. - Tobias Hammer; Berthold Bäuml (ICAR, 2013)

On task-oriented criteria for configurations selection in robot calibration. - Henry Carrillo; Oliver Birbach; Holger Täubig; Berthold Bäuml; Udo Frese; José A. Castellanos 001 (ICRA, 2013)

3D modeling, distance and gradient computation for motion planning: A direct GPGPU approach. - René Wagner; Udo Frese; Berthold Bäuml (ICRA, 2013)

Real-time dense multi-scale workspace modeling on a humanoid robot. - René Wagner; Udo Frese; Berthold Bäuml (IROS, 2013)

Agile Justin: An upgraded member of DLR's family of lightweight and torque controlled humanoids. - Berthold Bäuml; Tobias Hammer; René Wagner; Oliver Birbach; Thomas Gumpert; F. Zhi; Ulrich Hillenbrand; S. Beer; Werner Friedl; Jörg Butterfaß (ICRA, 2014)

Calibrating a pair of inertial sensors at opposite ends of an imperfect kinematic chain. - Oliver Birbach; Berthold Bäuml (IROS, 2014)

Graph SLAM with signed distance function maps on a humanoid robot. - René Wagner; Udo Frese; Berthold Bäuml (IROS, 2014)

Rapid calibration of a multi-sensorial humanoid's upper body: An automatic and self-contained approach. - Oliver Birbach; Udo Frese; Berthold Bäuml (Int. J. Robotics Res., 2015)

The Communication Layer of the aRDx Software Framework: Highly Performant and Realtime Deterministic. - Tobias Hammer; Berthold Bäuml (J. Intell. Robotic Syst., 2015)

Unified treatment of sparse and dense data in graph-based least squares. - René Wagner; Udo Frese; Berthold Bäuml (Humanoids, 2016)

Robust material classification with a tactile skin using deep learning. - Shiv S. Baishya; Berthold Bäuml (IROS, 2016)

Superhuman Performance in Tactile Material Classification and Differentiation with a Flexible Pressure-Sensitive Skin. - Andreea Tulbure; Berthold Bäuml (Humanoids, 2018)

Deep n-Shot Transfer Learning for Tactile Material Classification with a Flexible Pressure-Sensitive Skin. - Berthold Bäuml; Andreea Tulbure (ICRA, 2019)

Bringing a Humanoid Robot Closer to Human Versatility : Hard Realtime Software Architecture and Deep Learning Based Tactile Sensing (Einen humanoiden Roboter näher an die menschliche Vielseitigkeit heranbringen : Harte Echtzeit-Softwarearchitektur und Deep Learning-basiertes taktile Materialerkennung.) - Berthold Bäuml (2019)

Calibration of an Elastic Humanoid Upper Body and Efficient Compensation for Motion Planning. - Johannes Tenhumberg; Berthold Bäuml (HUMANOIDS, 2021)

An Ecosystem for Heterogeneous Robotic Assistants in Caregiving: Core Functionalities and Use Cases. - Jörn Vogel; Daniel Leidner; Annette Hagengruber; Michael Panzirsch; Berthold Bäuml; Maximilian Denninger; Ulrich Hillenbrand; Lioba Suchenwirth; Peter Schmaus; Marco Sewtz; Adrian Simon Bauer; Thomas Hulin; et al. (IEEE Robotics Autom. Mag., 2021)

Self-Contained Calibration of an Elastic Humanoid Upper Body Using Only a Head-Mounted RGB Camera. - Johannes Tenhumberg; Dominik Winkelbauer; Darius Burschka; Berthold Bäuml (Humanoids, 2022)

Learning Purely Tactile In-Hand Manipulation with a Torque-Controlled Hand. - Leon Sievers; Johannes Pitz; Berthold Bäuml (ICRA, 2022)

Learning a State Estimator for Tactile In-Hand Manipulation. - Lennart Röstel; Leon Sievers; Johannes Pitz; Berthold Bäuml (IROS, 2022)

Speeding Up Optimization-based Motion Planning through Deep Learning. - Johannes Tenhumberg; Darius Burschka; Berthold Bäuml (IROS, 2022)

A Two-stage Learning Architecture that Generates High-Quality Grasps for a Multi-Fingered Hand. - Dominik Winkelbauer; Berthold Bäuml; Matthias Humt; Nils Thuerey; Rudolph Triebel (IROS, 2022)

Combining Shape Completion and Grasp Prediction for Fast and Versatile Grasping with a Multi-Fingered Hand. - Matthias Humt; Dominik Winkelbauer; Ulrich Hillenbrand; Berthold Bäuml (Humanoids, 2023)

Estimator-Coupled Reinforcement Learning for Robust Purely Tactile In-Hand Manipulation. - Lennart Röstel; Johannes Pitz; Leon Sievers; Berthold Bäuml (Humanoids, 2023)

Efficient Learning of Fast Inverse Kinematics with Collision Avoidance. - Johannes Tenhumberg; Arman Mielke; Berthold Bäuml (Humanoids, 2023)

Self-Contained and Automatic Calibration of a Multi-Fingered Hand Using Only Pairwise Contact Measurements. - Johannes Tenhumberg; Leon Sievers; Berthold Bäuml (Humanoids, 2023)

Dextrous Tactile In-Hand Manipulation Using a Modular Reinforcement Learning Architecture. - Johannes Pitz; Lennart Röstel; Leon Sievers; Berthold Bäuml (ICRA, 2023)

Learning-Based Real-Time Torque Prediction for Grasping Unknown Objects with a Multi-Fingered Hand. - Dominik Winkelbauer; Berthold Bäuml; Rudolph Triebel (IROS, 2023)

Learning Time-Optimal and Speed-Adjustable Tactile In-Hand Manipulation. - Johannes Pitz; Lennart Röstel; Leon Sievers; Berthold Bäuml (Humanoids, 2024)

Fine Manipulation Using a Tactile Skin: Learning in Simulation and Sim-to-Real Transfer. - Ulf Kasolowsky; Berthold Bäuml (IROS, 2024)

Learning a Shape-Conditioned Agent for Purely Tactile In-Hand Manipulation of Various Objects. - Johannes Pitz; Lennart Röstel; Leon Sievers; Darius Burschka; Berthold Bäuml (IROS, 2024)

A Learning-based Controller for Multi-Contact Grasps on Unknown Objects with a Dexterous Hand. - Dominik Winkelbauer; Rudolph Triebel; Berthold Bäuml (IROS, 2024)

Composing Dextrous Grasping and In-Hand Manipulation via Scoring with a Reinforcement Learning Critic. - Lennart Röstel; Dominik Winkelbauer; Johannes Pitz; Leon Sievers; Berthold Bäuml (ICRA, 2025)