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ORCIDShivesh Kumar
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2020 – today
- 2024
[j9]Maximilian Albracht
, Shivesh Kumar, Shubham Vyas, Frank Kirchner:
Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments. IEEE Robotics Autom. Lett. 9(10): 8507-8514 (2024)- [j8]Felix Wiebe, Shivesh Kumar, Lasse J. Shala, Shubham Vyas, Mahdi Javadi, Frank Kirchner:
Open Source Dual-Purpose Acrobot and Pendubot Platform: Benchmarking Control Algorithms for Underactuated Robotics. IEEE Robotics Autom. Mag. 31(2): 113-124 (2024) - [j7]Gabriele Fadini, Shivesh Kumar, Rohit Kumar, Thomas Flayols, Andrea Del Prete, Justin Carpentier, Philippe Souères:
Co-designing versatile quadruped robots for dynamic and energy-efficient motions. Robotica 42(6): 2004-2025 (2024) - [c26]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. Humanoids 2024: 113-120 - [c25]Shourie S. Grama, Mahdi Javadi, Shivesh Kumar, Hossein Zamani Boroujeni, Frank Kirchner:
Ricmonk: A Three-Link Brachiation Robot with Passive Grippers for Energy-Efficient Brachiation. ICRA 2024: 8920-8926 - [c24]Federico Girlanda, Lasse Shala, Shivesh Kumar, Frank Kirchner:
Robust Co-Design of Canonical Underactuated Systems for Increased Certifiable Stability. ICRA 2024: 13271-13277 - [c23]Felix Wiebe, Niccolò Turcato, Alberto Dalla Libera, Chi Zhang, Théo Vincent, Shubham Vyas, Giulio Giacomuzzo, Ruggero Carli, Diego Romeres, Akhil Sathuluri, Markus Zimmermann, Boris Belousov, Jan Peters, Frank Kirchner, Shivesh Kumar:
Reinforcement Learning for Athletic Intelligence: Lessons from the 1st "AI Olympics with RealAIGym" Competition. IJCAI 2024: 8833-8837 - [i19]Federico Girlanda, Lasse Shala, Shivesh Kumar, Frank Kirchner:
Robust Co-Design of Canonical Underactuated Systems for Increased Certifiable Stability. CoRR abs/2403.10966 (2024) - [i18]Shourie S. Grama, Mahdi Javadi, Shivesh Kumar, Hossein Zamani Boroujeni, Frank Kirchner:
RicMonk: A Three-Link Brachiation Robot with Passive Grippers for Energy-Efficient Brachiation. CoRR abs/2403.15762 (2024) - [i17]Vinayvivian Rodrigues, Bingbin Yu, Christoph Stoeffler, Shivesh Kumar:
Kinetostatic Analysis for 6RUS Parallel Continuum Robot using Cosserat Rod Theory. CoRR abs/2403.19784 (2024) - [i16]Lasse Shala, Shubham Vyas, Mohamed Khalil Ben Larbi, Shivesh Kumar, Enrico Stoll:
Region of Attraction Estimation for Free-Floating Systems under Time-Varying LQR Control. CoRR abs/2405.06726 (2024) - [i15]Durgesh Haribhau Salunkhe, Guillaume Michel, Shivesh Kumar, Damien Chablat:
Enhancing Otological Surgery: Co-Designing a Parallel Robot with Surgeon Input. CoRR abs/2408.11830 (2024) - [i14]Maximilian Albracht, Shivesh Kumar, Shubham Vyas, Frank Kirchner:
Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments. CoRR abs/2408.14362 (2024) - [i13]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. CoRR abs/2410.06008 (2024) - 2023
- [j6]Mahdi Javadi, Daniel Harnack, Paula Stocco, Shivesh Kumar, Shubham Vyas, Daniel Pizzutilo, Frank Kirchner:
AcroMonk: A Minimalist Underactuated Brachiating Robot. IEEE Robotics Autom. Lett. 8(6): 3637-3644 (2023) - [j5]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. IEEE Robotics Autom. Lett. 8(6): 3804-3811 (2023) - [c22]Daniel Harnack, Christoph Lüth, Lukas Gross, Shivesh Kumar, Frank Kirchner:
Deriving Rewards for Reinforcement Learning from Symbolic Behaviour Descriptions of Bipedal Walking. CDC 2023: 2135-2140 - [c21]Ivan Bergonzani, Mihaela Popescu, Shivesh Kumar, Frank Kirchner:
Fast Dynamic Walking with RH5 Humanoid Robot. Humanoids 2023: 1-8 - [c20]Raghav Soni, Daniel Harnack, Hannah Isermann, Sotaro Fushimi, Shivesh Kumar, Frank Kirchner:
End-to-End Reinforcement Learning for Torque Based Variable Height Hopping. IROS 2023: 7531-7538 - [c19]Melya Boukheddimi, Rohit Kumar, Shivesh Kumar, Justin Carpentier, Frank Kirchner:
Investigations into Exploiting the Full Capabilities of a Series-Parallel Hybrid Humanoid Using Whole Body Trajectory Optimization. IROS 2023: 10433-10439 - [c18]Christoph Stoeffler, Adriano Del Río, René Sonntag, Florian Hoffmann, Shivesh Kumar, Frank Kirchner:
A Combined Rigid-Soft Thruster Based on Jetting Propulsion. RoboSoft 2023: 1-6 - [i12]Mahdi Javadi, Daniel Harnack, Paula Stocco, Shivesh Kumar, Shubham Vyas, Daniel Pizzutilo, Frank Kirchner:
AcroMonk: A Minimalist Underactuated Brachiating Robot. CoRR abs/2305.08373 (2023) - [i11]Shivesh Kumar, Andreas Mueller, Patrick M. Wensing, Frank Kirchner:
Towards Continuous Time Finite Horizon LQR Control in SE(3). CoRR abs/2307.14164 (2023) - [i10]Raghav Soni, Daniel Harnack, Hannah Isermann, Sotaro Fushimi, Shivesh Kumar, Frank Kirchner:
End-to-End Reinforcement Learning for Torque Based Variable Height Hopping. CoRR abs/2307.16676 (2023) - [i9]Daniel Harnack, Christoph Lüth, Lukas Gross, Shivesh Kumar, Frank Kirchner:
Deriving Rewards for Reinforcement Learning from Symbolic Behaviour Descriptions of Bipedal Walking. CoRR abs/2312.10328 (2023) - 2022
- [j4]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. J. Open Source Softw. 7(74): 3884 (2022) - [j3]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. Sensors 22(24): 9853 (2022) - [c17]Christoph Stoeffler, Adriano del Rio Fernandez, Heiner Peters, Moritz Schilling, Shivesh Kumar:
Kinematic Analysis of a Novel Humanoid Wrist Parallel Mechanism. ARK 2022: 348-355 - [c16]Lukas Gross, Lasse Maywald, Shivesh Kumar, Frank Kirchner, Christoph Lüth:
Analytic Estimation of Region of Attraction of an LQR Controller for Torque Limited Simple Pendulum. CDC 2022: 2695-2701 - [c15]Melya Boukheddimi, Shivesh Kumar, Heiner Peters, Dennis Mronga, Rohan Budhiraja, Frank Kirchner:
Introducing RH5 Manus: A Powerful Humanoid Upper Body Design for Dynamic Movements. ICRA 2022: 1-7 - [c14]Dennis Mronga, Shivesh Kumar, Frank Kirchner:
Whole-Body Control of Series-Parallel Hybrid Robots. ICRA 2022: 228-234 - [c13]Lasse Jenning Maywald, Felix Wiebe, Shivesh Kumar, Mahdi Javadi, Frank Kirchner:
Co-optimization of Acrobot Design and Controller for Increased Certifiable Stability. IROS 2022: 2636-2641 - [c12]Melya Boukheddimi, Daniel Harnack, Shivesh Kumar, Rohit Kumar, Shubham Vyas, Octavio Arriaga, Frank Kirchner:
Robot Dance Generation with Music Based Trajectory Optimization. IROS 2022: 3069-3076 - [c11]Rohit Kumar, Shivesh Kumar, Andreas Müller, Frank Kirchner:
Modular and Hybrid Numerical-Analytical Approach - A Case Study on Improving Computational Efficiency for Series-Parallel Hybrid Robots. IROS 2022: 3476-3483 - [d1]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. Zenodo, 2022
- [i8]Durgesh Haribhau Salunkhe, Guillaume Michel, Shivesh Kumar, Marcello Sanguineti, Damien Chablat:
An efficient combined local and global search strategy for optimization of parallel kinematic mechanisms with joint limits and collision constraints. CoRR abs/2202.11950 (2022) - [i7]Lukas Gross, Lasse Maywald, Shivesh Kumar, Frank Kirchner, Christoph Lüth:
Analytic Estimation of Region of Attraction of an LQR Controller for Torque Limited Simple Pendulum. CoRR abs/2211.15437 (2022) - 2021
- [c10]Julian Eßer, Shivesh Kumar, Heiner Peters, Vinzenz Bargsten, Jose de Gea Fernandez, Carlos Mastalli, Olivier Stasse, Frank Kirchner:
Design, analysis and control of the series-parallel hybrid RH5 humanoid robot. HUMANOIDS 2021: 400-407 - [c9]Shivesh Kumar, Andreas Müller:
Nth Order Analytical Time Derivatives of Inverse Dynamics in Recursive and Closed Forms. ICRA 2021: 1918-1924 - [i6]Julian Esser, Shivesh Kumar, Heiner Peters, Vinzenz Bargsten, Jose de Gea Fernandez, Carlos Mastalli, Olivier Stasse, Frank Kirchner:
Design, analysis and control of the series-parallel hybrid RH5 humanoid robot. CoRR abs/2101.10591 (2021) - [i5]Shivesh Kumar, Andreas Mueller:
Nth Order Analytical Time Derivatives of Inverse Dynamics in Recursive and Closed Forms. CoRR abs/2103.05941 (2021) - 2020
- [c8]Christoph Stoeffler, Shivesh Kumar, Andreas Müller:
A Comparative Study on 2-DOF Variable Stiffness Mechanisms. ARK 2020: 259-267 - [c7]Felix Wiebe, Shivesh Kumar, Daniel Harnack, Malte Langosz, Hendrik Wöhrle, Frank Kirchner:
Combinatorics of a Discrete Trajectory Space for Robot Motion Planning. IMAMR 2020: 57-65 - [i4]Tim von Oehsen, Alexander Fabisch, Shivesh Kumar, Frank Kirchner:
Comparison of Distal Teacher Learning with Numerical and Analytical Methods to Solve Inverse Kinematics for Rigid-Body Mechanisms. CoRR abs/2003.00225 (2020) - [i3]Christoph Stoeffler, Shivesh Kumar, Andreas Müller:
A comparative study on 2-DOF variable stiffness mechanisms. CoRR abs/2003.08801 (2020) - [i2]Felix Wiebe, Shivesh Kumar, Daniel Harnack, Malte Langosz, Hendrik Wöhrle, Frank Kirchner:
Combinatorics of a Discrete Trajectory Space for Robot Motion Planning. CoRR abs/2005.12064 (2020) - [i1]Thomas M. Roehr, Daniel Harnack, Hendrik Wöhrle, Felix Wiebe, Moritz Schilling, Oscar Lima, Malte Langosz, Shivesh Kumar, Sirko Straube, Frank Kirchner:
A Development Cycle for Automated Self-Exploration of Robot Behaviors. CoRR abs/2007.14928 (2020)
2010 – 2019
- 2019
- [b1]Shivesh Kumar:
Modular and Analytical Methods for Solving Kinematics and Dynamics of Series-Parallel Hybrid Robots (Modulare und analytische Verfahren zur Lösung von Kinematik und Dynamik von seriell-parallelen Hybridrobotern). Bremen University, Germany, 2019 - [j2]Shivesh Kumar, Bertold Bongardt, Marc Simnofske, Frank Kirchner:
Design and Kinematic Analysis of the Novel Almost Spherical Parallel Mechanism Active Ankle. J. Intell. Robotic Syst. 94(2): 303-325 (2019) - [j1]Anirvan Dutta, Durgesh Haribhau Salunkhe, Shivesh Kumar, Arun Dayal Udai, Suril Vijaykumar Shah:
Sensorless full body active compliance in a 6 DOF parallel manipulator. Robotics Comput. Integr. Manuf. 59: 278-290 (2019) - [c6]Shivesh Kumar, Julius Martensen, Andreas Müller, Frank Kirchner:
Model Simplification For Dynamic Control of Series-Parallel Hybrid Robots - A Representative Study on the Effects of Neglected Dynamics Shivesh. IROS 2019: 5701-5708 - [c5]Ashish Singh, Umesh Chandra, Shivesh Kumar, Kakali Chatterjee:
A Secure Access Control Model for E-health Cloud. TENCON 2019: 2329-2334 - 2018
- [c4]Shivesh Kumar, Abhilash Nayak, Heiner Peters, Christopher Schulz, Andreas Müller, Frank Kirchner:
Kinematic Analysis of a Novel Parallel 2SPRR+1U Ankle Mechanism in Humanoid Robot. ARK 2018: 431-439 - [c3]Christoph Stoeffler, Shivesh Kumar, Heiner Peters, Olivier Brüls, Andreas Müller, Frank Kirchner:
Conceptual Design of a Variable Stiffness Mechanism in a Humanoid Ankle Using Parallel Redundant Actuation. Humanoids 2018: 462-468 - 2017
- [c2]Shivesh Kumar, Marc Simnofske, Bertold Bongardt, Andreas Müller, Frank Kirchner:
Integrating Mimic Joints into Dynamics Algorithms: Exemplified by the Hybrid Recupera Exoskeleton. AIR 2017: 27:1-27:6 - 2016
- [c1]Shivesh Kumar, Valérie Renaudin, Yannick Aoustin, Eric Le Carpentier, Christophe Combettes:
Model-based and experimental analysis of the symmetry in human walking in different device carrying modes. BioRob 2016: 1172-1179
Coauthor Index
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