I am a robotics researcher at the German Research Center for Artifical Intelligence (Robotics Innovation Center). My research focus is on physical human-robot interaction, humanoid robotics, optimization-based robot control and learning from demonstration. I am holding a PhD in computer science on learning whole-body motions for humanoid robots and other complex systems.

Research

• Whole-Body Control
• Learning Whole-Body Controllers from Demonstration
• Human-Robot Coexistence and Collaboration

Software

• ARC-OPT - Adaptive Robot Control using Optimization

Publications

For a complete list, please check my Google Scholar Profile

D. Mronga, S. Kumar and F. Kirchner, “Whole-Body Control of Series-Parallel Hybrid Robots” 2022 International Conference on Robotics and Automation (ICRA), 2022, pp. 228-234, doi: 10.1109/ICRA46639.2022.9811616.

M. Boukheddimi, S. Kumar, H. Peters, D. Mronga, R. Budhiraja and F. Kirchner, “Introducing RH5 Manus: A Powerful Humanoid Upper Body Design for Dynamic Movements”, 2022 International Conference on Robotics and Automation (ICRA), 2022, pp. 01-07, doi: 10.1109/ICRA46639.2022.9811843.

D. Mronga, “Learning Task Constraints for Whole-Body Control of Robotic Systems”, 2022, University of Bremen, doi: 10.26092/elib/1547

D. Mronga and F. Kirchner, “Learning context-adaptive task constraints for robotic manipulation”, Robotics and Autonomous Systems, Volume 141, 2021, 103779, ISSN 0921-8890, doi: 10.1016/j.robot.2021.103779.

J. de Gea Fernández, D. Mronga, et al., “Multimodal sensor-based whole-body control for human–robot collaboration in industrial settings”, Robotics and Autonomous Systems, Volume 94, 2017, pp 102-119, ISSN 0921-8890, doi: 10.1016/j.robot.2017.04.007.

D. Mronga, T. Knobloch, J. de Gea Fernández and F. Kirchner, “A constraint-based approach for human–robot collision avoidance”, Advanced Robotics, 2020, Volume 34, Issue 5, pp 265-281, doi: 10.1080/01691864.2020.1721322

Contact

Dr.-Ing. Dennis Mronga
DFKI GmbH
Robert-Hooke-Str. 1
28359 Bremen, Germany

Phone: +49-421-17845-6560
E-Mail: dennis.mronga@dfki.de

Google Scolar
LinkedIn
Research Gate
DFKI Robotics Innovation Center