Publikationen

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Ibrahim Tijjani; Rohit Kumar; Melya Boukheddimi; Mathias Trampler; Shivesh Kumar; Frank Kirchner
Sitting, Standing and Walking Control of the Series- Parallel Hybrid Recupera-Reha Exoskeleton
In: 2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids). IEEE-RAS International Conference on Humanoid Robots (Humanoids-2024), November 22-24, Nancy, France, Pages 113-120, ISBN 979-8-3503-7357-8, IEEE, 12/2024.
Dennis Mronga; Shivesh Kumar; Frank Kirchner
Whole-body control
In: Shivesh Kumar; Andreas Mueller; Frank Kirchner. Biologically Inspired Series-Parallel Hybrid Robots. Chapter 9, ISBN 978-0-323-88482-2, Elsevier, 2024.
Dennis Mronga; Frank Kirchner
The ARC-OPT Library for Whole-Body Control of Robotic Systems
In: Journal of Open Source Software (JOSS), Vol. 9, No. 104, Pages *-*, The Open Journal, 2024.
Mario Gleirscher; Rehab Massoud; Dieter Hutter; Christoph Lüth
How Deduction Systems Can Help You To Verify Stability Properties
In: Conference on Decision and Control. IEEE Conference on Decision and Control (CDC-2024), December 16-19, Milano, Italy, Vol. abs/2404.10747, IEEE, 2024.
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 Systems (IROS-2023), October 1-5, Detroit, Michigan, USA, IEEE, 10/2023.
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 Systems (IROS-2023), October 1-5, Detroit, MI, USA, Pages 7531-7538, ISBN 978-1-6654-9190-7, IEEE Robotics and Automation Society, 10/2023.
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, 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.