2024
Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments.
IEEE Robotics Autom. Lett., October, 2024
Open Source Dual-Purpose Acrobot and Pendubot Platform: Benchmarking Control Algorithms for Underactuated Robotics.
IEEE Robotics Autom. Mag., June, 2024
Co-designing versatile quadruped robots for dynamic and energy-efficient motions.
Robotica, 2024
Enhancing Otological Surgery: Co-Designing a Parallel Robot with Surgeon Input.
CoRR, 2024
Region of Attraction Estimation for Free-Floating Systems under Time-Varying LQR Control.
CoRR, 2024
Kinetostatic Analysis for 6RUS Parallel Continuum Robot using Cosserat Rod Theory.
CoRR, 2024
Reinforcement Learning for Athletic Intelligence: Lessons from the 1st "AI Olympics with RealAIGym" Competition.
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Proceedings of the Thirty-Third International Joint Conference on Artificial Intelligence, 2024
Ricmonk: A Three-Link Brachiation Robot with Passive Grippers for Energy-Efficient Brachiation.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024
Robust Co-Design of Canonical Underactuated Systems for Increased Certifiable Stability.
Proceedings of the IEEE International Conference on Robotics and Automation, 2024
Sitting, Standing and Walking Control of the Series-Parallel Hybrid Recupera-Reha Exoskeleton.
Proceedings of the 23rd IEEE-RAS International Conference on Humanoid Robots, 2024
2023
A Recursive Lie-Group Formulation for the Second-Order Time Derivatives of the Inverse Dynamics of Parallel Kinematic Manipulators.
IEEE Robotics Autom. Lett., June, 2023
AcroMonk: A Minimalist Underactuated Brachiating Robot.
IEEE Robotics Autom. Lett., June, 2023
Towards Continuous Time Finite Horizon LQR Control in SE(3).
CoRR, 2023
A Combined Rigid-Soft Thruster Based on Jetting Propulsion.
Proceedings of the IEEE International Conference on Soft Robotics, 2023
End-to-End Reinforcement Learning for Torque Based Variable Height Hopping.
IROS, 2023
Investigations into Exploiting the Full Capabilities of a Series-Parallel Hybrid Humanoid Using Whole Body Trajectory Optimization.
IROS, 2023
Fast Dynamic Walking with RH5 Humanoid Robot.
Proceedings of the 22nd IEEE-RAS International Conference on Humanoid Robots, 2023
Deriving Rewards for Reinforcement Learning from Symbolic Behaviour Descriptions of Bipedal Walking.
Proceedings of the 62nd IEEE Conference on Decision and Control, 2023
2022
Torque-limited simple pendulum: A toolkit for getting familiar with control algorithms in underactuated robotics.
Dataset, April, 2022
Experimental Investigations into Using Motion Capture State Feedback for Real-Time Control of a Humanoid Robot.
Sensors, 2022
Torque-limited simple pendulum: A toolkit for getting familiar with control algorithms in underactuated robotics.
J. Open Source Softw., 2022
An efficient combined local and global search strategy for optimization of parallel kinematic mechanisms with joint limits and collision constraints.
CoRR, 2022
Co-optimization of Acrobot Design and Controller for Increased Certifiable Stability.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
Modular and Hybrid Numerical-Analytical Approach - A Case Study on Improving Computational Efficiency for Series-Parallel Hybrid Robots.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
Robot Dance Generation with Music Based Trajectory Optimization.
Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022
Whole-Body Control of Series-Parallel Hybrid Robots.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022
Introducing RH5 Manus: A Powerful Humanoid Upper Body Design for Dynamic Movements.
Proceedings of the 2022 International Conference on Robotics and Automation, 2022
Analytic Estimation of Region of Attraction of an LQR Controller for Torque Limited Simple Pendulum.
Proceedings of the 61st IEEE Conference on Decision and Control, 2022
Kinematic Analysis of a Novel Humanoid Wrist Parallel Mechanism.
Proceedings of the Advances in Robot Kinematics 2022, 2022
2021
Nth Order Analytical Time Derivatives of Inverse Dynamics in Recursive and Closed Forms.
Proceedings of the IEEE International Conference on Robotics and Automation, 2021
Design, analysis and control of the series-parallel hybrid RH5 humanoid robot.
Proceedings of the 20th IEEE-RAS International Conference on Humanoid Robots, 2021
2020
A Development Cycle for Automated Self-Exploration of Robot Behaviors.
CoRR, 2020
Comparison of Distal Teacher Learning with Numerical and Analytical Methods to Solve Inverse Kinematics for Rigid-Body Mechanisms.
CoRR, 2020
Combinatorics of a Discrete Trajectory Space for Robot Motion Planning.
Proceedings of the 2nd IMA Conference on Mathematics of Robotics, 2020
A Comparative Study on 2-DOF Variable Stiffness Mechanisms.
Proceedings of the Advances in Robot Kinematics 2020, 2020
2019
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)
PhD thesis, 2019
Sensorless full body active compliance in a 6 DOF parallel manipulator.
Robotics Comput. Integr. Manuf., 2019
Design and Kinematic Analysis of the Novel Almost Spherical Parallel Mechanism Active Ankle.
J. Intell. Robotic Syst., 2019
A Secure Access Control Model for E-health Cloud.
Proceedings of the TENCON 2019, 2019
Model Simplification For Dynamic Control of Series-Parallel Hybrid Robots - A Representative Study on the Effects of Neglected Dynamics Shivesh.
Proceedings of the 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2019
2018
Conceptual Design of a Variable Stiffness Mechanism in a Humanoid Ankle Using Parallel Redundant Actuation.
Proceedings of the 18th IEEE-RAS International Conference on Humanoid Robots, 2018
Kinematic Analysis of a Novel Parallel 2SPRR+1U Ankle Mechanism in Humanoid Robot.
Proceedings of the Advances in Robot Kinematics 2018, 2018
2017
Integrating Mimic Joints into Dynamics Algorithms: Exemplified by the Hybrid Recupera Exoskeleton.
Proceedings of the Advances in Robotics, 2017
2016
Model-based and experimental analysis of the symmetry in human walking in different device carrying modes.
Proceedings of the 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, 2016