Present research activities are the realization of reliable, complex autonomous robotic systems. Therefore, he and his research group are developing the robotic middleware Finroc, the behavior-based control architecture iB2C as well as different validation and verification methodologies. The main application is off-road robotics, in which autonomous or semi-autonomous vehicles like small a truck, an excavator, a shuttlebus, tractors, and rescue robots are under development. In the range of humanoid robots, the social robot ROMAN and Robin is developed for the investigation of human robot interaction. Also a biological inspired biped locomotion is under development including soft actuators and the mechatronics system of the biped.