Publications

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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 algebra, and Geometric Algebra in Robotics. IEEE International Conference on Robotics and Automation (ICRA-2023), May 29 - June 2, London, United Kingdom, 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.
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, Singapore, Pages 1-6, IEEE-RAS International Conference on Soft Robotics, 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, Singapore, TBA. 2023.
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), December 12-14, Austin, TX, USA, ISBN 979-8-3503-0327-8, IEEE, 2023.
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 6-9, Cancun, Mexico, Institute of Electrical and Electronics Engineers (IEEE), 12/2022.
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 Systems (IROS-2022), October 23-27, Kyoto, Japan, IEEE, 11/2022.
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 Systems (IROS-2022), IEEE, 11/2022.
Lasse Jenning Shala; 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 Intelligent Robots and Systems (IROS-2022), October 23-27, Kyoto, Japan, IEEE, 11/2022.