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 2020

We are currently preparing for RoboCup 2020: The German Open will take place in Magdeburg (April 24-26), The WorldCup will be in Bordeaux (June 23-29). If you want to support us please contact Sven Wachsmuth (CITEC Central Lab Facilities).

Team Description Paper: Team Description Paper of ToBI 2020

Team Video: Youtube

Team Members: Leroy Rügemer, David Leins, Torben Markmann, Markus Vieth, Sven Wachsmuth


Platform TIAGo

TIAGo platformThe robot platform TIAGo by PAL-Robotics is used in RoboCup@Home related research scenarios since 2019. It is equipped with laser sensors and sonars that allow nagivation and mapping, a pan-tilt head including rgb and depth cameras, and a compliant 7 DoF arm with a force/torque sensor and a parallel gripper. The robot arm is equipped with a SCHUNK gripper (model: WSG 025) with a maximum opening width of 68mm,  which has been customized in order to enhance its capability to grasp larger objects. We augmented the robot with an exchangable custom expansion. This turns the parallel motion into a scissoring motion to increase the maximum opening width. The gripper is designed to mount up to four adaptive fingers. We equipped the robot with a Lenovo P52 notebook running Ubuntu Linux 16.04
on a 3D-printed mount. Additional computing power is provided by a Jetson TX1 module and a Intel Neural Compute Stick 2. For improved speech recognition we added a Sennheiser MKE 400 shotgun microphone to the head.

Platform BIRON

The BIRON 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.


World Cup Final 2016: Youtube


The RoboCup team has been sponsored by the software solutions provider Itelligence AG (Bielefeld, East Westphalia), the sensor system producer SICK AG (Waldkirch, Breisgau), the car dealer Becker-Tiemann (Bünde, East Westphalia), and supported by Miele & Cie. KG. We continuously are looking for further sponsors.