Robert Haschke

115 papers A* 3A 24B 5C 4Misc 1Journal 32Unranked 37

Year	Rank	Type	Title / Venue / Authors
2025	J	`jnl`	HydroelasticTouch: Simulation of Tactile Sensors with Hydroelastic Contact Surfaces. CoRR David P. Leins, Florian Patzelt, Robert Haschke
2025	—	`conf`	MuJoCo ROS: Integrating ROS with the MuJoCo Engine for Accurate and Scalable Robotic Simulation. SIMPAR David P. Leins, Robert Haschke, Helge J. Ritter
2024	J	`jnl`	Adaptive Kinematic Modeling for Improved Hand Posture Estimates Using a Haptic Glove. CoRR Kathrin Krieger, David P. Leins, Thorben Markmann, Robert Haschke, Jianxu Chen, Matthias Gunzer, Helge J. Ritter
2024	A	`conf`	Learning When to Stop: Efficient Active Tactile Perception with Deep Reinforcement Learning. IROS Christopher Niemann, David P. Leins, Luca Lach, Robert Haschke
2024	J	`jnl`	Precision-Focused Reinforcement Learning Model for Robotic Object Pushing. CoRR Lara Bergmann, David P. Leins, Robert Haschke, Klaus Neumann
2024	—	`conf`	TactileMemory: Multi-Fingered Simultaneous Shape and Pose Identification Using Contact Traces. Humanoids Mohammed Shameer Abubucker, Martin Meier, Robert Haschke, Helge J. Ritter
2024	J	`jnl`	Towards Open-World Mobile Manipulation in Homes: Lessons from the Neurips 2023 HomeRobot Open Vocabulary Mobile Manipulation Challenge. CoRR Sriram Yenamandra, Arun Ramachandran, Mukul Khanna, Karmesh Yadav, Jay Vakil, Andrew Melnik, Michael Büttner, Leon Harz, Lyon Brown, Gora Chand Nandi, Arjun P. S, Gaurav Kumar Yadav, Rahul Kala, Robert Haschke, Yang Luo, Jinxin Zhu, Yansen Han, Bingyi Lu, Xuan Gu, Qinyuan Liu, Yaping Zhao, Qiting Ye, Chenxiao Dou, Yansong Chua, Volodymyr Kuzma, Vladyslav Humennyy, Ruslan Partsey, Jonathan Francis, Devendra Singh Chaplot, Gunjan Chhablani, Alexander Clegg, Théophile Gervet, Vidhi Jain, Ram Ramrakhya, Andrew Szot, Austin S. Wang, Tsung-Yen Yang, Aaron Edsinger, Charles C. Kemp, Binit Shah, Zsolt Kira, Dhruv Batra, Roozbeh Mottaghi, Yonatan Bisk, Chris Paxton
2024	A	`conf`	Zero-Shot Transfer of a Tactile-based Continuous Force Control Policy from Simulation to Robot. IROS Luca Lach, Robert Haschke, Davide Tateo, Jan Peters, Helge J. Ritter, Júlia Borràs Sol, Carme Torras
2023	J	`jnl`	Bio-Inspired Grasping Controller for Sensorized 2-DoF Grippers. CoRR Luca Lach, Séverin Lemaignan, Francesco Ferro, Helge J. Ritter, Robert Haschke
2023	J	`jnl`	Language-Conditioned Semantic Search-Based Policy for Robotic Manipulation Tasks. CoRR Jannik Sheikh, Andrew Melnik, Gora Chand Nandi, Robert Haschke
2023	A	`conf`	Placing by Touching: An Empirical Study on the Importance of Tactile Sensing for Precise Object Placing. IROS Luca Lach, Niklas Funk, Robert Haschke, Séverin Lemaignan, Helge Joachim Ritter, Jan Peters, Georgia Chalvatzaki
2023	J	`jnl`	TIAGo RL: Simulated Reinforcement Learning Environments with Tactile Data for Mobile Robots. CoRR Luca Lach, Francesco Ferro, Robert Haschke
2023	J	`jnl`	Towards Transferring Tactile-based Continuous Force Control Policies from Simulation to Robot. CoRR Luca Lach, Robert Haschke, Davide Tateo, Jan Peters, Helge J. Ritter, Júlia Borràs Sol, Carme Torras
2023	J	`jnl`	UniTeam: Open Vocabulary Mobile Manipulation Challenge. CoRR Andrew Melnik, Michael Büttner, Leon Harz, Lyon Brown, Gora Chand Nandi, Arjun P. S, Gaurav Kumar Yadav, Rahul Kala, Robert Haschke
2022	A	`conf`	Bio-Inspired Grasping Controller for Sensorized 2-DoF Grippers. IROS Luca Lach, Séverin Lemaignan, Francesco Ferro, Helge J. Ritter, Robert Haschke
2022	J	`jnl`	Placing by Touching: An empirical study on the importance of tactile sensing for precise object placing. CoRR Luca Lach, Niklas Funk, Robert Haschke, Séverin Lemaignan, Helge Joachim Ritter, Jan Peters, Georgia Chalvatzaki
2021	A*	`conf`	Conditional StyleGAN for Grasp Generation. ICRA Florian Patzelt, Robert Haschke, Helge J. Ritter
2021	A	`conf`	Geometry-Based Grasping Pipeline for Bi-Modal Pick and Place. IROS Robert Haschke, Guillaume Walck, Helge J. Ritter
2021	J	`jnl`	Tensor-variate mixture of experts for proportional myographic control of a robotic hand. Robotics Auton. Syst. Noémie Jaquier, Robert Haschke, Sylvain Calinon
2021	J	`jnl`	Toward More Robust Hand Gesture Recognition on EIT Data. Frontiers Neurorobotics David P. Leins, Christian Gibas, Rainer Brück, Robert Haschke
2021	J	`jnl`	Using Tactile Sensing to Improve the Sample Efficiency and Performance of Deep Deterministic Policy Gradients for Simulated In-Hand Manipulation Tasks. Frontiers Robotics AI Andrew Melnik, Luca Lach, Matthias Plappert, Timo Korthals, Robert Haschke, Helge J. Ritter
2020	A	`conf`	Barometer-based Tactile Skin for Anthropomorphic Robot Hand. IROS Risto Kõiva, Tobias Schwank, Guillaume Walck, Martin Meier, Robert Haschke, Helge J. Ritter
2020	—	`conf`	From Geometries to Contact Graphs. ICANN (2) Martin Meier, Robert Haschke, Helge J. Ritter
2020	J	`jnl`	Leveraging Touch Sensors to Improve Mobile Manipulation. CoRR Luca Lach, Robert Haschke, Francesco Ferro, Jordi Pagès
2019	B	`conf`	Conditional WGAN for grasp generation. ESANN Florian Patzelt, Robert Haschke, Helge J. Ritter
2019	A*	`conf`	MoveIt! Task Constructor for Task-Level Motion Planning. ICRA Michael Görner, Robert Haschke, Helge J. Ritter, Jianwei Zhang
2019	J	`jnl`	Tensor-variate Mixture of Experts. CoRR Noémie Jaquier, Robert Haschke, Sylvain Calinon
2018	A	`conf`	Estimating an Articulated Tool's Kinematics via Visuo-Tactile Based Robotic Interactive Manipulation. IROS Qiang Li, André Ückermann, Robert Haschke, Helge J. Ritter
2018	A	`conf`	Mechatronic fingernail with static and dynamic force sensing. IROS Risto Kõiva, Tobias Schwank, Guillaume Walck, Robert Haschke, Helge J. Ritter
2018	—	`conf`	Modeling Target-Distractor Discrimination for Haptic Search in a 3D Environment. BioRob Alexandra Moringen, Witali Aswolinskiy, Gereon H. Büscher, Guillaume Walck, Robert Haschke, Helge J. Ritter
2018	J	`jnl`	Tactile Sensing for Manipulation. Int. J. Humanoid Robotics Qiang Li, Lorenzo Natale, Robert Haschke, Andrea Cherubini, Anh Van Ho, Helge J. Ritter
2017	—	`conf`	Fast grasp tool design: From force to form closure. CASE Mohammadali Honarpardaz, Martin Meier, Robert Haschke
2017	J	`jnl`	Gaussian Mixture Model for 3-DoF orientations. Robotics Auton. Syst. Seungsu Kim, Robert Haschke, Helge J. Ritter
2017	—	`conf`	Haptic search for complex 3D shapes subject to geometric transformations or partial occlusion. WHC Alexandra Moringen, Kathrin Krieger, Robert Haschke, Helge J. Ritter
2017	A	`conf`	Robot self-protection by virtual actuator fatigue: Application to tendon-driven dexterous hands during grasping. IROS Guillaume Walck, Robert Haschke, Martin Meier, Helge J. Ritter
2016	A	`conf`	Distinguishing sliding from slipping during object pushing. IROS Martin Meier, Guillaume Walck, Robert Haschke, Helge J. Ritter
2016	—	`conf`	Learning a tool's homogeneous transformation by tactile-based interaction. Humanoids Qiang Li, Robert Haschke, Helge J. Ritter
2016	—	`conf`	Search procedures during haptic search in an unstructured 3D display. HAPTICS Alexandra Moringen, Robert Haschke, Helge J. Ritter
2016	—	`conf`	Shape Features of the Search Target Modulate Hand Velocity, Posture and Pressure During Haptic Search in a 3D Display. EuroHaptics (1) Kathrin Krieger, Alexandra Moringen, Robert Haschke, Helge J. Ritter
2016	—	`conf`	Tactile Convolutional Networks for Online Slip and Rotation Detection. ICANN (2) Martin Meier, Florian Patzelt, Robert Haschke, Helge J. Ritter
2015	—	`conf`	A visuo-tactile control framework for manipulation and exploration of unknown objects. Humanoids Qiang Li, Robert Haschke, Helge J. Ritter
2015	A	`conf`	Augmenting curved robot surfaces with soft tactile skin. IROS Gereon H. Büscher, Martin Meier, Guillaume Walck, Robert Haschke, Helge J. Ritter
2015	A	`conf`	Discriminating liquids using a robotic kitchen assistant. IROS Christof Elbrechter, Jonathan Maycock, Robert Haschke, Helge J. Ritter
2015	J	`jnl`	Flexible and stretchable fabric-based tactile sensor. Robotics Auton. Syst. Gereon H. Büscher, Risto Kõiva, Carsten Schürmann, Robert Haschke, Helge J. Ritter
2015	—	`conf`	Towards body schema learning using training data acquired by continuous self-touch. Humanoids Qiang Li, Robert Haschke, Helge J. Ritter
2014	J	`jnl`	Perceptual grouping through competition in coupled oscillator networks. Neurocomputing Martin Meier, Robert Haschke, Helge J. Ritter
2014	—	`conf`	Real-time hierarchical scene segmentation and classification. Humanoids André Ückermann, Christof Elbrechter, Robert Haschke, Helge J. Ritter
2013	—	`conf`	A Control Framework for Tactile Servoing. Robotics: Science and Systems Qiang Li, Carsten Schürmann, Robert Haschke, Helge J. Ritter
2013	—	`conf`	A highly sensitive 3D-shaped tactile sensor. AIM Risto Kõiva, Matthias Zenker, Carsten Schürmann, Robert Haschke, Helge J. Ritter
2013	J	`jnl`	An examination of different fitness and novelty based selection methods for the evolution of neural networks. Soft Comput. Benjamin Inden, Yaochu Jin, Robert Haschke, Helge J. Ritter, Bernhard Sendhoff
2013	—	`conf`	Improving the Structuring Capabilities of Statistics-Based Local Learners. AI*IA Slobodan Vukanovic, Robert Haschke, Helge J. Ritter
2013	A	`conf`	Integrating vision, haptics and proprioception into a feedback controller for in-hand manipulation of unknown objects. IROS Qiang Li, Christof Elbrechter, Robert Haschke, Helge J. Ritter
2013	C	`conf`	Learning of Lateral Interactions for Perceptual Grouping Employing Information Gain. ICANN Martin Meier, Robert Haschke, Helge J. Ritter
2013	B	`conf`	Perceptual grouping through competition in coupled oscillator networks. ESANN Martin Meier, Robert Haschke, Helge J. Ritter
2013	A	`conf`	Realtime 3D segmentation for human-robot interaction. IROS André Ückermann, Robert Haschke, Helge J. Ritter
2013	J	`jnl`	Rotary object dexterous manipulation in hand: a feedback-based method. Int. J. Mechatronics Autom. Qiang Li, Martin Meier, Robert Haschke, Helge J. Ritter, Bram Bolder
2012	A	`conf`	3D scene segmentation for autonomous robot grasping. IROS André Ückermann, Christof Elbrechter, Robert Haschke, Helge J. Ritter
2012	—	`ch.`	A High-Speed Tactile Sensor for Slip Detection. Towards Service Robots for Everyday Environments Carsten Schürmann, Matthias Schöpfer, Robert Haschke, Helge J. Ritter
2012	—	`ch.`	A Mixed-Initiative Approach to Interactive Robot Tutoring. Towards Service Robots for Everyday Environments Ingo Lütkebohle, Julia Peltason, Lars Schillingmann, Christof Elbrechter, Sven Wachsmuth, Britta Wrede, Robert Haschke
2012	—	`conf`	Analysis of human grasping under task anticipation using a tactile book. Humanoids Carsten Schürmann, Risto Kõiva, Robert Haschke, Helge J. Ritter
2012	—	`conf`	Decomposition of Multimodal Data for Affordance-based Identification of Potential Grasps. ICPRAM (2) Daniel Dornbusch, Robert Haschke, Stefan Menzel, Heiko Wersing
2012	—	`ch.`	Editorial. Towards Service Robots for Everyday Environments Robert Haschke, Helge J. Ritter
2012	J	`jnl`	Evolving neural fields for problems with large input and output spaces. Neural Networks Benjamin Inden, Yaochu Jin, Robert Haschke, Helge J. Ritter
2012	—	`conf`	Folding paper with anthropomorphic robot hands using real-time physics-based modeling. Humanoids Christof Elbrechter, Robert Haschke, Helge J. Ritter
2012	—	`conf`	Grasp point optimization by online exploration of unknown object surface. Humanoids Qiang Li, Robert Haschke, Bram Bolder, Helge J. Ritter
2012	—	`ch.`	Grasping Objects of Unknown Geometry with Tactile Feedback. Towards Service Robots for Everyday Environments Robert Haschke, Matthias Schöpfer, Helge J. Ritter
2012	—	`ch.`	Identifying Relevant Tactile Features for Object Identification. Towards Service Robots for Everyday Environments Matthias Schöpfer, Michael Pardowitz, Robert Haschke, Helge J. Ritter
2012	—	`conf`	Real-time 3D segmentation of cluttered scenes for robot grasping. Humanoids André Ückermann, Robert Haschke, Helge J. Ritter
2012	—	`conf`	Real-time hand tracking with a color glove for the actuation of anthropomorphic robot hands. Humanoids Matthias Schröder, Christof Elbrechter, Jonathan Maycock, Robert Haschke, Mario Botsch, Helge J. Ritter
2012	—	`conf`	Reification through perceptual grouping. Humanoids Martin Meier, Robert Haschke, Helge J. Ritter
2012	—	`conf`	Rotary Surface Object Manipulation by Multifingered Robot Hand. ROBOTIK Qiang Li, Robert Haschke, Helge J. Ritter, Bram Bolder
2012	—	`conf`	Tactile dataglove with fabric-based sensors. Humanoids Gereon H. Büscher, Risto Kõiva, Carsten Schürmann, Robert Haschke, Helge J. Ritter
2012	—	`book`	Towards Service Robots for Everyday Environments - Recent Advances in Designing Service Robots for Complex Tasks in Everyday Environments Erwin Prassler, Johann Marius Zöllner, Rainer Bischoff, Wolfram Burgard, Robert Haschke, Martin Hägele, Gisbert Lawitzky, Bernhard Nebel, Paul-Gerhard Plöger, Ulrich Reiser
2012	—	`conf`	Towards Unknown Objects Manipulation. SyRoCo Qiang Li, Robert Haschke, Helge J. Ritter, Bram Bolder
2011	J	`jnl`	A Probabilistic Approach to Tactile Shape Reconstruction. IEEE Trans. Robotics Martin Meier, Matthias Schöpfer, Robert Haschke, Helge J. Ritter
2011	—	`conf`	A modular high-speed tactile sensor for human manipulation research. World Haptics Carsten Schürmann, Risto Kõiva, Robert Haschke, Helge J. Ritter
2011	A	`conf`	Bi-manual robotic paper manipulation based on real-time marker tracking and physical modelling. IROS Christof Elbrechter, Robert Haschke, Helge J. Ritter
2011	—	`conf`	Deformable trees - exploiting local obstacle avoidance. Humanoids Matthias Behnisch, Robert Haschke, Helge J. Ritter, Michael Gienger
2011	—	`conf`	Development of an intelligent object for grasp and manipulation research. ICAR Risto Kõiva, Robert Haschke, Helge J. Ritter
2011	—	`conf`	Evolution of Multisensory Integration in Large Neural Fields. Artificial Evolution Benjamin Inden, Yaochu Jin, Robert Haschke, Helge J. Ritter
2011	—	`conf`	Exploiting inherent regularity in control of multilegged robot locomotion by evolving neural fields. NaBIC Benjamin Inden, Yaochu Jin, Robert Haschke, Helge J. Ritter
2011	—	`conf`	Learning of object manipulation operations from continuous multimodal input. Humanoids Ulf Grossekathofer, Alexandra Barchunova, Robert Haschke, Thomas Hermann, Mathias Franzius, Helge J. Ritter
2011	B	`conf`	Multimodal segmentation of object manipulation sequences with product models. ICMI Alexandra Barchunova, Robert Haschke, Mathias Franzius, Helge J. Ritter
2011	A	`conf`	Robust tracking of human hand postures for robot teaching. IROS Jonathan Maycock, Jan Steffen, Robert Haschke, Helge J. Ritter
2011	—	`conf`	Simulation results for manipulation of unknown objects in hand. ROBIO Qiang Li, Robert Haschke, Helge J. Ritter, Bram Bolder
2010	J	`jnl`	Approaching Manual Intelligence. Künstliche Intell. Jonathan Maycock, Daniel Dornbusch, Christof Elbrechter, Robert Haschke, Thomas Schack, Helge J. Ritter
2010	—	`conf`	Bio-inspired motion strategies for a bimanual manipulation task. Humanoids Jan Steffen, Christof Elbrechter, Robert Haschke, Helge J. Ritter
2010	Misc	`conf`	Correlating Shape and Functional Properties Using Decomposition Approaches. FLAIRS Daniel Dornbusch, Robert Haschke, Stefan Menzel, Heiko Wersing
2010	—	`conf`	Evaluating a Physics Engine as an Ingredient for Physical Reasoning. SIMPAR Erik Weitnauer, Robert Haschke, Helge J. Ritter
2010	B	`conf`	Finding correlations in multimodal data using decomposition approaches. ESANN Daniel Dornbusch, Robert Haschke, Stefan Menzel, Heiko Wersing
2010	A	`conf`	NEATfields: evolution of neural fields. GECCO Benjamin Inden, Yaochu Jin, Robert Haschke, Helge J. Ritter
2010	A	`conf`	Task space motion planning using reactive control. IROS Matthias Behnisch, Robert Haschke, Michael Gienger
2009	J	`jnl`	The Cyborg Astrobiologist: Testing a Novelty-Detection Algorithm on Two Mobile Exploration Systems at Rivas Vaciamadrid in Spain and at the Mars Desert Research Station in Utah CoRR Patrick C. McGuire, Christoph Gross, Lorenz Wendt, A. Bonnici, V. Souza-Egipsy, Jens Ormö, Enrique Díaz Martínez, B. H. Foing, R. Bose, Sebastian Walter, Markus Oesker, Jörg Ontrup, Robert Haschke, Helge J. Ritter
2009	A*	`conf`	The curious robot - Structuring interactive robot learning. ICRA Ingo Lütkebohle, Julia Peltason, Lars Schillingmann, Britta Wrede, Sven Wachsmuth, Christof Elbrechter, Robert Haschke
2009	—	`ch.`	Trying to Grasp a Sketch of a Brain for Grasping. Creating Brain-Like Intelligence Helge J. Ritter, Robert Haschke, Jochen J. Steil
2008	—	`conf`	Gestalt-based action segmentation for robot task learning. Humanoids Michael Pardowitz, Robert Haschke, Jochen J. Steil, Helge J. Ritter
2008	A	`conf`	On-line planning of time-optimal, jerk-limited trajectories. IROS Robert Haschke, Erik Weitnauer, Helge J. Ritter
2008	A	`conf`	Towards dextrous manipulation using manipulation manifolds. IROS Jan Steffen, Robert Haschke, Helge J. Ritter
2007	—	`ch.`	A Dual Interaction Perspective for Robot Cognition: Grasping as a "Rosetta Stone". Perspectives of Neural-Symbolic Integration Helge J. Ritter, Robert Haschke, Jochen J. Steil
2007	A	`conf`	Experience-based and tactile-driven dynamic grasp control. IROS Jan Steffen, Robert Haschke, Helge J. Ritter
2007	C	`conf`	Manual Intelligence as a Rosetta Stone for Robot Cognition. ISRR Helge J. Ritter, Robert Haschke, Frank Röthling, Jochen J. Steil
2007	A	`conf`	Platform portable anthropomorphic grasping with the bielefeld 20-DOF shadow and 9-DOF TUM hand. IROS Frank Röthling, Robert Haschke, Jochen J. Steil, Helge J. Ritter
2007	J	`jnl`	The Cyborg Astrobiologist: Porting from a wearable computer to the Astrobiology Phone-cam CoRR Alexandra Bartolo, Patrick C. McGuire, Kenneth P. Camilleri, Christopher L. Spiteri, Jonathan C. Borg, Philip J. Farrugia, Jens Ormö, Javier Gómez-Elvira, José Antonio Rodríguez Manfredi, Enrique Díaz Martínez, Helge J. Ritter, Robert Haschke, Markus Oesker, Jörg Ontrup
2006	A	`conf`	Dynamic Path Planning for a 7-DOF Robot Arm. IROS Stefan Klanke, Dmitry V. Lebedev, Robert Haschke, Jochen J. Steil, Helge J. Ritter
2005	J	`jnl`	Field geology with a wearable computer: 1st results of the Cyborg Astrobiologist System CoRR Patrick C. McGuire, Javier Gómez-Elvira, José Antonio Rodríguez Manfredi, Eduardo Sebastián-Martínez, Jens Ormö, Enrique Díaz Martínez, Markus Oesker, Robert Haschke, Jörg Ontrup, Helge J. Ritter
2005	C	`conf`	Field geology with a wearable computer: first results of the cyborg astrobiologist system. ICINCO Patrick C. McGuire, Javier Gómez-Elvira, José Antonio Rodríguez Manfredi, Eduardo Sebastián-Martínez, Jens Ormö, Enrique Díaz Martínez, Markus Oesker, Robert Haschke, Jörg Ontrup, Helge J. Ritter
2005	J	`jnl`	Input space bifurcation manifolds of recurrent neural networks. Neurocomputing Robert Haschke, Jochen J. Steil
2005	—	`conf`	Task-oriented quality measures for dextrous grasping. CIRA Robert Haschke, Jochen J. Steil, I. Steuwer, Helge J. Ritter
2005	J	`jnl`	The Cyborg Astrobiologist: Scouting Red Beds for Uncommon Features with Geological Significance CoRR Patrick C. McGuire, Enrique Díaz Martínez, Jens Ormö, Javier Gómez-Elvira, José Antonio Rodríguez Manfredi, Eduardo Sebastián-Martínez, Helge J. Ritter, Robert Haschke, Markus Oesker, Jörg Ontrup
2004	J	`jnl`	Field Geology with a Wearable Computer: First Results of the Cyborg Astrobiologist System CoRR Patrick C. McGuire, Javier Gómez-Elvira, José Antonio Rodríguez Manfredi, Eduardo Sebastián-Martínez, Jens Ormö, Enrique Díaz Martínez, Helge J. Ritter, Markus Oesker, Robert Haschke, Jörg Ontrup
2004	B	`conf`	Input Space Bifurcation Manifolds of RNNs. ESANN Robert Haschke, Jochen J. Steil
2004	J	`jnl`	Situated robot learning for multi-modal instruction and imitation of grasping. Robotics Auton. Syst. Jochen J. Steil, Frank Röthling, Robert Haschke, Helge J. Ritter
2003	—	`—`	Bifurcations in discrete time neural networks: controlling complex network behaviour with inputs. Robert Haschke
2002	J	`jnl`	Threshold disorder as a source of diverse and complex behavior in random nets. Neural Networks Patrick C. McGuire, Henrik Bohr, John W. Clark, Robert Haschke, Chris L. Pershing, Johann Rafelski
2001	C	`conf`	Controlling Oscillatory Behaviour of a Two Neuron Recurrent Neural Network Using Inputs. ICANN Robert Haschke, Jochen J. Steil, Helge J. Ritter