Nine Men’s Morris on a KUKA LBR IIWA 7 R800


Today’s important topic of research is robotics. Robots are used in many different industries. In the area of robotics one of the research areas is Human Robot Interaction (HRI). HRI is important for any robotics application where a human and a robot are both actuators. It is important that the HRI of a robot application is satisfying for the human so that no frustration arises while using the application.
A good way of developing or researching in the area of HRI is to develop games, since the interaction in games is one of the key factors. By developing an application where a human is playing with or against a robot, which is acting as a second player and tries to be as human-like as possible while playing, different approaches of HRI can be researched and evaluated.
In this project an application was developed that allowed a human player play the strategy board game “Nine Men’s Morris” against a robot. To enable the robot to sense its environment a camera was used to analyze the game area.

The robot

The used robot was the KUKA LBR iiwa 7 R800, which is very light weight (23.9 Kg) robot and can be used for intelligent industrial work. The seven axis of the robot allow a flexible movement in all directions. The robot has integrated sensors to simplify the implementation of force detection.

The robot can be programmed with the programming language Java and comes with a special IDE called KUKA Sunrise Workbench. Sunrise Workbench can also be used to load applications to the robot or to debug an application.

The camera

For visual analysis a Cognex In-Sight 7000 Integrated Vision System was used. The size of camera is 75mm x 55mm x 47mm and the connectors are Industrial M12 connectors. The robust and intelligent camera can analyze an image by its own. The communication to other devices can be implemented easily, because the camera can be for example set up as a Modbus/TCP server that can be reached by any device in the same network. To create analysis jobs the software “In-Sight Explorer” can be used. The software provides all features of the camera in a easy understandable user interface.



The robot is mounted on the table. It is connected via a LAN cable to a switch. The camera is attached to a beam at a fixed position and is also connected to the same switch. This way the robot and the camera will be in the same network and can communicate with each other.

 GitHub Repository      GitHub-Mark-120px-plus



Newsletter-Creator is a tool for users, who would like to create and manage newsletter campaigns. The tool allows users to manage lists of subscribers, create new newsletter campaigns from templates or with the drag and drop editor and schedule date and time to send the newsletter. Also same newsletter campaigns can be edited by several people at the same time.



Space of time: 09/2014 – 01/2015

Coding Language: Meteor (JavaScript, mongoDB), HTML, CSS (Bootstrap)

Team: 5 people

Background: Developed as a project during my master studies.

InnoGames Game Jam #7


The next InnoGames Game Jam in Hamburg was set on the last weekend.
The theme was a quote by Walt Disney “It’s kind of fun to do the impossible”.

Two astronauts are dreaming the dream of being the first person on the moon. Who will win? Who can start a rocket at first? Is it even possible to leave the planet? Or will your opponent destroy your rocket before it’s ready to launch? No one knows, but it’s still a lot of fun.

“To the Moon!” is a 2D multiplayer game for two astronauts fighting against each other. Trying to build their rockets to fly to the moon, they are stealing fuel and modules and shoot with their laser weapons.


Game title: “To The Moon!

Space of time: 14/11/2014 – 16/11/2014

Coding Language: Unity3D (C#)

Team: 7 people

created by: Control-25

Background: Developed at the seventh InnoGames Game Jam in 48 hours.

GitHub Repository      GitHub-Mark-120px-plus

You can play the game here

InnoGames Game Jam #6


I attended the sixth InnoGames Game Jam in Hamburg from the 28th to the 30th of march.
The theme was “ridiculous”.

This is it, the most epic mage battle of all times! Almost… Because of your deficit in mana, show your jumping skills to get to those boxes which fall magically from the sky. They may include the right weapons (like bananas and donuts) to make a fool of your opponent and become the most ridiculous, eehm, powerful wizard of all times!


Game title: “Epic Battleclash of the Manawizards with Wizardry of Doom, Chapter One

Space of time: 28/03/2014 – 30/03/2014

Coding Language: Unity3D (C#)

Team: 8 people

Background: Developed at the sixth InnoGames Game Jam in 48 hours.

GitHub Repository      GitHub-Mark-120px-plus

You can play the game here



checkIT is a web application which helps the users to organize their daily tasks. Users can manage several check-lists which can be shared and used by multiple users at the same time.



Space of time: 09/2013 – 01/2014

Coding Language: Meteor (JavaScript, mongoDB), HTML, CSS (Bootstrap)

Team: 5 people

Background: Developed as a project during my bachelor studies in cooperation with the software design company ma design.



ConnectiDot is an addicting little brain jogging game to distract yourself from the daily routine. You have to connect the dots with the same color by swiping over them. Connected dots will disapear and new dots will come up if you make chains with more than 3 dots. But hurry, because time is running while you are playing!



Coding Language: Construct 2

Team: alone

Android version available in the Google Play Store