I am a roboticist, who specializes in developing well structured code that brings robot to life. My work focuses on usability, reliability and deployment of service robots. During the last ten years of experience in programming robot daily, I developed several robotics executive control architecture, including TDM and Playful.

I am also scientific software engineer in the Autonomous Motion Department at the Max Planck Institute for Intelligent Systems (Tübingen, Germany) where I am in charge of overseeing the development of software related to robotic architecture and research projects.

My list of publications is available here.
Max Planck Institute for Intelligent Systems: here.


May 2018 Very happy to welome Lahiru Herath. For his master thesis, we will work on interactive motion generation, with implementation on Softbank Robotics Pepper.
Jan 2018 New article: Real-time Perception meets Reactive Motion Generation
IEEE Robotics and Automation Letters
Daniel Kappler, Franziska Meier, Jan Issac, Jim Mainprice, Cristina Garcia Cifuentes, Manuel Wuthrich, Vincent Berenz, Stefan Schaal, Nathan Ratliff and Jeannette Bohg.
Dec 2017 New video: life viewed by Apollo. https://youtu.be/O0uNTX37oLs
Dec 2017 New video: machine ethics implemented in Nao. https://youtu.be/V8utFzn7DJk
Oct 2017 Excited to host Michael and Susan Anderson for a week. We will perform a proof of concept on the implemention of ethics in robot. See machineethics.com.
Oct 2017 New video: Max Planck guests playing with Apollo. https://www.youtube.com/watch?v=71gciiVrOsY
Oct 2017 New blog post: Human-Robot interactions with Apollo: Making-Of
May 2017 New video: controller for smooth human-robot interactions. https://www.youtube.com/watch?v=WevxbSmxgG0
May 2017 New video: overview of Playful. https://www.youtube.com/watch?v=784eL6uSKbk