Publikationen

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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 …
Raghav Soni; Daniel Harnack; Hannah Isermann; Sotaro Fushimi; Shivesh Kumar; Frank Kirchner
End-to-End Reinforcement Learning for Torque Based Variable Height Hopping
In: 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). IEEE/RSJ International Conference on Intelligent Robots and …
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.
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.
Daniel Harnack; Christoph Lüth; Lukas Groß; Shivesh Kumar; Frank Kirchner
Deriving Rewards for Reinforcement Learning from Symbolic Behaviour Descriptions of Bipedal Walking
In: 62nd IEEE Conference on Decision and Control (CDC). IEEE Conference on Decision and Control (CDC-2023), December 13-15, Marina Bay Sands, …
Ivan Bergonzani; Mihaela Popescu; Shivesh Kumar; Frank Kirchner
Fast Dynamic Walking with RH5 Humanoid Robot
In: 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids). IEEE-RAS International Conference on Humanoid Robots (Humanoids), …
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.
Lukas Groß; Lasse Jenning Shala; Shivesh Kumar; Frank Kirchner; Christoph Lüth
Analytic Estimation of Region of Attraction of an LQR Controller for Torque Limited Simple Pendulum
In: 61st IEEE Conference on Decision and Control. IEEE Conference on Decision and Control (CDC-2022), Conference on Decision and Control, December …
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 …
Felix Wiebe; Jonathan Babel; Shivesh Kumar; Shubham Vyas; Daniel Harnack; Melya Boukheddimi; Mihaela Popescu; Frank Kirchner
Torque-limited simple pendulum: A toolkit for getting familiar with control algorithms in underactuated robotics
In: Journal of Open Source Software (JOSS), Vol. 7, No. 74, Pages 1-7, The Open Journal, 6/2022.