The Team of Bielefeld (ToBi) has been founded in 2009. The robocup activities are embedded in a long-term research endeavour towards human-robot interaction with laypersons in regular home environments. The overall research goal is to provide a robot with capabilities that enable the interactive teaching of skills and tasks through natural communication in previously unknown environments. The challenge is two-fold. On the one hand, we need to understand the communicative cues of humans and how they interpret robotic behavior. On the other hand, we need to provide technology that is able to perceive the environment, detect and recognize humans, navigate in changing environments, localize and manipulate objects, initiate and understand a spoken dialog. Thus, it is important to go beyond typical command-style interaction and to support mixed-initiative learning tasks.

RoboCup 2019

We are currently preparing for RoboCup 2019: The German Open will take place in Magdeburg (May 2-5), The WorldCup will be in Sydney (July 2-8). If you want to support us please contact Sven Wachsmuth (CITEC Central Lab Facilities).

Team Description Paper: RoboCupAtHome-SSPL_ToBI_TDP-2019.pdf

Team Qualification Video: Video link (sciebo)

RoboCup 2018

The RoboCup 2018 team achieved the third place at the German Open in Magdeburg and won the championships in the RoboCup@Home Social Standard League at the WorldCup in Montreal, Canada. (see news on CITEC

Team Leader: Sven Wachsmuth, Florian Lier, Johannes Kummert 

Team Members: Felix Friese, Kai Konen, Sarah Schröder, Robert Feldhans, David Leins, Jan Patrick Nülle, Janneke Simmering, Philipp von Neumann-Cosel

Team Associates: Sebastian Meyer zu Borgsen, Leroy Rügemer, Patrick Renner, Dominik Sixt, Luca Michael Lach 

Team Description Paper: Team_ToBI_TDP-2018.pdf

RoboCup Homecoming Event 2017, Oct. 4, 2017, 3pm, CITEC Foyer

We invite all students, university staff, and friends to our homecoming event on Wed. Oct. 4, 2017, 2pm in the Foyer of the CITEC building. We will give you insides to this year's competition, present our experiences in Nagoya, and showcase our robots Biron and Pepper with their final performance.

RoboCup 2017

The 2017 RoboCup team participated in the German Open in Magdeburg - ending on third place of eight teams - and at the WorldCup in Nagoya, Japan, achieving the third place of 16 teams in the Open Platform League (OPL). For the first time, we also participated in the Social Standard Platform League (SSPL) ending on 7th place, with more to come in the next year.

Team Leader: Sven Wachsmuth, Sebastian Meyer zu Borgsen, Florian Lier
Team Members: Johannes Kummert, Dominik Sixt, Luca Michael Lach
Students: Sebastian Müller, Thilo Reinold, Bjarte Feldmann, Felix Friese, Kai Konen, Sarah Schröder, Lukas Hindemith, Robert Feldhans

RoboCup 2016

The 2016 RoboCup team participated at the Robocup European Open in Eindhoven placing third and at the WorldCup in Leizpig where the team won.

The Team

Team Leader: Sebastian Meyer zu Borgsen, Florian Lier, Timo Korthals, Sven Wachsmuth
Team Members: Leroy Rügemer, Nils Neumann, Johannes Kummert, Henri Neumann,
Dominik Sixt, Mirko Killmann, Philip Kenneweg, Luca Michael Lach,
Tobias Schumacher, Suchit Sharma, Julian Exner, Marvin Barther

System Description: Robocup Champion 2016-champion

Platform ToBi

The current platform is based on the research platform GuiaBot by MobileRobots customized and equipped with sensors that allow analysis of the current situation. It comprises two piggyback laptops to provide the computational power and to achieve a system running autonomously and in real-time for HRI.ToBi platformThe robot base is a PatrolBot which is 59cm in length, 48cm in width, weighs approx. 45 kilograms with batteries. It is maneuverable with 1.7 meters per second maximum translation and 300+ degrees rotation per second. The drive is a two-wheel differential drive with two passive rear casters for balance. Inside the base there is a 180 degree laser range finder with a scanning height of ~30cm above the floor (SICK LMS, see image on the left). In contrast to most other PatrolBot bases, ToBi does not use an additional internal computer. The piggyback laptops are Core2Duo processors with 2GB main memory and are running Ubuntu Linux. The cameras that are used for person and object detection/recognition are 2MP CCD firewire cameras (Point Grey Grashopper, see iamge on the left). One is facing down for object detection/recognition, the second camera is facing up for face detection/recognition. For room classification and 3D object positions ToBi is equipped with an optical imaging system for real time 3D image data acquisition. 
Additionally the robot is equipped with a Katana IPR 5 degrees-of-freedom (DOF) arm (see image,  second from bottom on the right); a small and lightweight manipulator driven by 6 DC-Motors with integrated digital position encoders. The end-effector is a sensor-gripper with distance and touch sensors (6 inside, 4 outside) allowing to grasp and manipulate objects up to 400 grams throughout the arm's envelope of operation. The upper part of the robot houses a touch screen (~15in) as well as the system speaker. The on board microphone has a hyper-cardioid polar pattern and is mounted on top of the upper part of the robot. The overall height is approximately 140cm. 

Platform AMiRo

AMiRo platformTo extend and enhance the capabilities of ToBi, the Autonomous Mini Robot (AMiRo) is used in numerous tasks. AMiRo, was developed at the University of Bielefeld with the main objective of research and education. It consists of set of electronic modules for sensor processing, actuator control and cognitive processing that fully utilise currently available electronics technology for the construction of mini robots capable of rich autonomous behaviours. All mechanical parts for the robot are off-the-shelf components or can be fabricated with common drilling, turning and milling machines. The connection between the modules is well defined and supports standard interfaces from parallel camera capture interfaces down to simple serial interfaces. The AMiRo is a two wheeled robot with differential kinematic which physical cylindrical shape was original intended to meet the rules of the AMiRESot robot soccer league.

Recent Results

European Open 2016 (Eindhoven, Netherlands): 3rd place (Competition)
World Cup 2016 (Leipzig, Germany): 1st place (Competition, NW)


World Cup Final 2016: Youtube
Qualification video for the WorldCup 2015: Youtube


The RoboCup team is sponsored by the software solutions provider Itelligence AG (Bielefeld, East Westphalia), the sensor system producer SICK AG (Waldkirch, Breisgau) und the car dealer Becker-Tiemann (Bünde, East Westphalia).