Robotics Innovation Center

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1. Melya Boukheddimi; Rohit Kumar; Shivesh Kumar; Carpentier Justin; Frank Kirchner

   Investigations into Exploiting the Full Capabilities of a Series-Parallel Hybrid Humanoid using Whole Body Trajectory Optimization

   In: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE/RSJ International Conference on Intelligent Robots and …

2. Mahdi Javadi; Daniel Harnack; Paula Stocco; Shivesh Kumar; Shubham Vyas; Daniel Pizzutilo; Frank Kirchner

   AcroMonk: A Minimalist Underactuated Brachiating Robot

   In: IEEE Robotics and Automation Letters (RA-L), Vol. 8, Pages 1-8, IEEE, 6/2023.

3. Shivesh Kumar; Andreas Mueller; Patrick Wensing; Frank Kirchner

   Towards Continuous Time Finite Horizon LQR Control in SE(3)

   In: IEEE International Conference on Robotics and Automation (ICRA) 2023 Workshop on Geometric Representations The Roles of Modern Screw Theory, Lie …

4. Andreas Müller; Shivesh Kumar; Thomas Kordik

   A Recursive Lie-Group Formulation for the Second-Order Time Derivatives of the Inverse Dynamics of Parallel Kinematic Manipulators

   In: IEEE Robotics and Automation Letters (RA-L), Vol. 8, Pages 1-8, IEEE, 4/2023.

5. Christoph Stoeffler; Adriano del Río; René Sonntag; Florian Hoffmann; Shivesh Kumar; Frank Kirchner

   A Combined Rigid-Soft Thruster Based on Jetting Propulsion

   In: IEEE-RAS International Conference on Soft Robotics. IEEE International Conference on Soft Robotics (RoboSoft-2023), April 3-7, Singapore, …

6. Raghav Soni; Daniel Harnack; Hauke Isermann; Sotaro Fushimi; Shivesh Kumar; Frank Kirchner

   End-to-End Reinforcement Learning for Torque Based Variable Height Hopping

   In: IROS 2023 : IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and …

7. Mihaela Popescu; Dennis Mronga; Ivan Bergonzani; Shivesh Kumar; Frank Kirchner

   Experimental Investigations into Using Motion Capture State Feedback for Real-Time Control of a Humanoid Robot

   In: Sensors - Open Access Journal (Sensors), Vol. 22, No. 24, Pages 1-12, Multidisciplinary Digital Publishing Institute (MDPI), 12/2022.

8. Rohit Kumar; Shivesh Kumar; Andreas Mueller; Frank Kirchner

   Modular and Hybrid Numerical-Analytical Approach - A Case Study on Improving Computational Efficiency for Series-Parallel Hybrid Robots

   In: 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE/RSJ International Conference on Intelligent Robots and …

9. Melya Boukheddimi; Daniel Harnack; Shivesh Kumar; Rohit Kumar; Shubham Vyas; Octavio Arriaga; Frank Kirchner

   Robot Dance Generation with Music Based Trajectory Optimization

   In: IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022. IEEE/RSJ International Conference on Intelligent Robots and …

10. Lasse Jenning Maywald; Felix Wiebe; Shivesh Kumar; Mahdi Javadi; Frank Kirchner

    Co-Optimization of Acrobot Design and Controller for Increased Certifiable Stability

    In: Proceedings of the 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2022). IEEE/RSJ International Conference on …

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