Homepage Freek Stulp

Homepage Freek Stulp


Head of Department
Department of Cognitive Robotics
Institute of Robotics and Mechatronics
DLR - Deutsches Zentrum für Luft- und Raumfahrt e.V. (German Aerospace Center)
German Aerospace Center (DLR)
Münchener Straße 20
82234 Oberpfaffenhofen-Weßling
Office: 2420
Freek Stulp

In March 2016, I moved to the Institute of Robotics and Mechatronics at DLR.
Not all parts of my homepage are up to date yet...


In most activities of daily living, related tasks are encountered over and over again. Countless times we flip light switches, insert keys in locks, pour coffee, brush our teeth, etc. etc. To exploit this regularity, humans reuse existing motor skills for recurring tasks. For robots, using a set of motor skills also drastically reduces the search space for control, facilitates learning, leads to less reliance on accurate analytical models, and has negligible computational load during execution. Therefore, my goal is to leverage the advantages of the skill-centric approach to achieve autonomous robots that operate flexibly, robustly and safely in human environments.

More detailed research description

Former research projects

Selected Publications

Full publication list

In public media


The "C++ library for Dynamic Movement Primitives and Black-Box Optimization" (https://github.com/stulp/dmpbbo) is an important tool for my research. The library contains several algorithms for black-box optimization (including CEM, PI_BB) and function approximation (including Locally Weighted Regression, Gaussian Mixture Regression, Radial Basis Function Networks). It also contains several Dynamical Movement Primitive representations, and means for optimizing the parameters with black-box optimization.


Previously, I was responsible for coordinating the first year computer science courses at ENSTA-ParisTech. My roles in the indivual courses are:


Head of Department
03.2016-current      Institute of Robotics and Mechatronics, DLR      Weßling (near Munich), Germany
Assistant Professor
11.2011-01.2016      École Nationale Supérieure de Techniques Avancées      Paris, France
Post-doctoral Research Fellow
07.2011-10.2011Technische Universität BerlinBerlin, Germany
08.2009-06.2011University of Southern CaliforniaLos Angeles, USA
01.2009-03.2009Advanced Telecomm. Research Institute Int'lKyoto, Japan
Post-doctoral Research Assistant
05.2008-07.2009Technische Universität MünchenMunich, Germany
01.2007-04.2008University of BremenBremen, Germany
Research Assistant
05.2002-09.2006Technische Universität MünchenMunich, Germany
06.2001-12.2001Instituto Superior TécnicoLisbon, Portugal
09.2000-05.2001University of EdinburghEdinburgh, UK
Teaching Assistant
09.1999-06.2000University of GroningenGroningen, Netherlands

Full CV (PDF)


My main thing is electric guitar and singing, but I do bass also. In choirs, I sing bass or tenor voice.

Below is my "musical bio"

If you play guitar/bass/piano, maybe my Chordfinder is useful for you.


I am into Cuban salsa, especially Rueda da Casino.


Freekuently Asked Question: The not uncommon dutch name "Freek" is pronounced "Frrrake" (with a Spanish-style "r" as in "burro"). Don't worry, I'm not fussy about this: over the years abroad I have also learned to respond to "Frank", "Fred", "Vague", "Flake", "Flag", "Freoch", "Greek", and "Freak" (actually, in Britain, an institute where I worked addressed letters to me as "Dr. Freak", though at the time I was neither. In Japan on the other hand, people do much better at spelling my name correctly. Contrary to the well-known English meaning, the original lesser-known Dutch meaning is "powerful protector". For completeness: "Stulp" means "humble abode".