I am a roboticist, who specializes in developing well structured code that brings robot to life. My research 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 page at Max Planck Institute for Intelligent Systems: here.


Mar 2019 New pre-print: Automated Generation of Reactive Programs from Human Demonstration for Orchestration of Robot Behaviors
Vincent Berenz, Ahmed Bjelic, Jim Mainprice
Support video: https://www.youtube.com/watch?v=wGoBwkFZm08
Mar 2019 New video video: Pepper robot reactive dance: https://www.youtube.com/watch?v=gIzyhipOvKY
Jan 2019 New video Playful public exhibit: Shy Pepper robot gaining confidence https://www.youtube.com/watch?v=t47hPs4CatY
Nov 2018 Article about our work on ethical robots in techxplore.com
Nov 2018 Release of Playful: official website
Oct 2018 New article: A Value-Driven Eldercare Robot: Virtual and Physical Instantiations of a Case-Supported Principle-Based Behavior Paradigm
Proceedings of the IEEE
Michael Anderson, Susan Leigh Anderson, Vincent Berenz
Jul 2018 New open source library: playful kinematics
Jul 2018 Very happy to welcome Ahmed Bjelic. For his master thesis, we will work on:
"learning robotic reactive behavior from human demonstration via dynamic behavior tree".
He will be co-supervised by Jim Mainprice and myself, and located at the humans to robots motion group of the university of Stuttgart.
Jun 2018 New article: Playful: Reactive Programming for Orchestrating Robot Behavior
IEEE Robotics and Automation Magazine
Vincent Berenz, Stefan Schaal.
May 2018 Very happy to welcome 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