Daniel Wahrmann

About

Daniel Wahrmann is a robotics researcher whose work spans humanoid locomotion, autonomous navigation, and human-centered service robotics. His most recognized contribution is the development of GARMI, a service robotics platform designed to support elderly individuals at home through household assistance, telepresence, and telemedicine interfaces — a paper that has garnered 83 citations since its 2021 publication and reflects a compelling pivot toward socially impactful robotics. Earlier in his career, Wahrmann made substantial contributions to bipedal robot autonomy, tackling some of the field's most demanding challenges: real-time path planning in unknown environments (42 citations), nonlinear model predictive footstep optimization, and state estimation for biped robots using multibody dynamics. His 2017 work on autonomous logistics robotics (47 citations) further demonstrated his ability to bridge theoretical control frameworks with practical deployment. Wahrmann also advanced robot perception, developing vision-based 3D modeling systems for humanoid navigation and efficient obstacle avoidance architectures. His flexible tactile sensor work highlights an additional thread of hardware innovation in human-robot interaction. Collectively, his research portfolio reflects a researcher who has consistently pushed the boundaries of what autonomous, physically capable, and socially aware robots can achieve in real-world environments.

Research Focus

Key Achievements

Top Papers

1. 1
   Introducing GARMI - A Service Robotics Platform to Support the Elderly at Home: Design Philosophy, System Overview and First Results

   83 citations · 2021
2. 2
   An Autonomous and Flexible Robotic Framework for Logistics Applications

   47 citations · 2017
3. 3
   Real-Time Path Planning in Unknown Environments for Bipedal Robots

   42 citations · 2017
4. 4
   State estimation for biped robots using multibody dynamics

   23 citations · 2015
5. 5
   Vision-Based 3D Modeling of Unknown Dynamic Environments for Real-Time Humanoid Navigation

   21 citations · 2019
6. 6
   Real-time pattern generation among obstacles for biped robots

   20 citations · 2015
7. 7
   Fast object approximation for real-time 3D obstacle avoidance with biped robots

   19 citations · 2016
8. 8
   Versatile and robust bipedal walking in unknown environments: real-time collision avoidance and disturbance rejection

   17 citations · 2019
9. 9
   A flexible and low-cost tactile sensor for robotic applications

   17 citations · 2017
10. 10
    Real-time nonlinear model predictive footstep optimization for biped robots

    16 citations · 2015

Key Collaborators

Contact & Links