Shivesh Kumar

According to our database, Shivesh Kumar authored at least 44 papers between 2016 and 2024.

Collaborative distances:

• Dijkstra number of four.
• Erdős number of three.

2024

Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments.

Maximilian Albracht, Shivesh Kumar, Shubham Vyas, Frank Kirchner

IEEE Robotics Autom. Lett., October, 2024

Open Source Dual-Purpose Acrobot and Pendubot Platform: Benchmarking Control Algorithms for Underactuated Robotics.

Felix Wiebe, Shivesh Kumar, Lasse J. Shala, Shubham Vyas, Mahdi Javadi, Frank Kirchner

IEEE Robotics Autom. Mag., June, 2024

Co-designing versatile quadruped robots for dynamic and energy-efficient motions.

Gabriele Fadini, Shivesh Kumar, Rohit Kumar, Thomas Flayols, Andrea Del Prete, Justin Carpentier, Philippe Souères

Robotica, 2024

Enhancing Otological Surgery: Co-Designing a Parallel Robot with Surgeon Input.

Durgesh Haribhau Salunkhe, Guillaume Michel, Shivesh Kumar, Damien Chablat

CoRR, 2024

Region of Attraction Estimation for Free-Floating Systems under Time-Varying LQR Control.

Lasse Shala, Shubham Vyas, Mohamed Khalil Ben Larbi, Shivesh Kumar, Enrico Stoll

CoRR, 2024

Kinetostatic Analysis for 6RUS Parallel Continuum Robot using Cosserat Rod Theory.

Vinayvivian Rodrigues, Bingbin Yu, Christoph Stoeffler, Shivesh Kumar

CoRR, 2024

Reinforcement Learning for Athletic Intelligence: Lessons from the 1st "AI Olympics with RealAIGym" Competition.

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

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.

Shourie S. Grama, Mahdi Javadi, Shivesh Kumar, Hossein Zamani Boroujeni, Frank Kirchner

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Robust Co-Design of Canonical Underactuated Systems for Increased Certifiable Stability.

Federico Girlanda, Lasse Shala, Shivesh Kumar, Frank Kirchner

Proceedings of the IEEE International Conference on Robotics and Automation, 2024

Sitting, Standing and Walking Control of the Series-Parallel Hybrid Recupera-Reha Exoskeleton.

Ibrahim Tijjani, Rohit Kumar, Melya Boukheddimi, Mathias Trampler, Shivesh Kumar, Frank Kirchner

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.

Andreas Müller, Shivesh Kumar, Thomas Kordik

IEEE Robotics Autom. Lett., June, 2023

AcroMonk: A Minimalist Underactuated Brachiating Robot.

Mahdi Javadi, Daniel Harnack, Paula Stocco, Shivesh Kumar, Shubham Vyas, Daniel Pizzutilo, Frank Kirchner

IEEE Robotics Autom. Lett., June, 2023

Towards Continuous Time Finite Horizon LQR Control in SE(3).

Shivesh Kumar, Andreas Mueller, Patrick M. Wensing, Frank Kirchner

CoRR, 2023

A Combined Rigid-Soft Thruster Based on Jetting Propulsion.

Christoph Stoeffler, Adriano Del Río, René Sonntag, Florian Hoffmann, Shivesh Kumar, Frank Kirchner

Proceedings of the IEEE International Conference on Soft Robotics, 2023

End-to-End Reinforcement Learning for Torque Based Variable Height Hopping.

Raghav Soni, Daniel Harnack, Hannah Isermann, Sotaro Fushimi, Shivesh Kumar, Frank Kirchner

IROS, 2023

Investigations into Exploiting the Full Capabilities of a Series-Parallel Hybrid Humanoid Using Whole Body Trajectory Optimization.

Melya Boukheddimi, Rohit Kumar, Shivesh Kumar, Justin Carpentier, Frank Kirchner

IROS, 2023

Fast Dynamic Walking with RH5 Humanoid Robot.

Ivan Bergonzani, Mihaela Popescu, Shivesh Kumar, Frank Kirchner

Proceedings of the 22nd IEEE-RAS International Conference on Humanoid Robots, 2023

Deriving Rewards for Reinforcement Learning from Symbolic Behaviour Descriptions of Bipedal Walking.

Daniel Harnack, Christoph Lüth, Lukas Gross, Shivesh Kumar, Frank Kirchner

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.

Felix Wiebe, Jonathan Babel, Shivesh Kumar, Shubham Vyas, Daniel Harnack, Melya Boukheddimi, Mihaela Popescu, Frank Kirchner

Dataset, April, 2022

Experimental Investigations into Using Motion Capture State Feedback for Real-Time Control of a Humanoid Robot.

Mihaela Popescu, Dennis Mronga, Ivan Bergonzani, Shivesh Kumar, Frank Kirchner

Sensors, 2022

Torque-limited simple pendulum: A toolkit for getting familiar with control algorithms in underactuated robotics.

Felix Wiebe, Jonathan Babel, Shivesh Kumar, Shubham Vyas, Daniel Harnack, Melya Boukheddimi, Mihaela Popescu, Frank Kirchner

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.

Durgesh Haribhau Salunkhe, Guillaume Michel, Shivesh Kumar, Marcello Sanguineti, Damien Chablat

CoRR, 2022

Co-optimization of Acrobot Design and Controller for Increased Certifiable Stability.

Lasse Jenning Maywald, Felix Wiebe, Shivesh Kumar, Mahdi Javadi, Frank Kirchner

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.

Rohit Kumar, Shivesh Kumar, Andreas Müller, Frank Kirchner

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Robot Dance Generation with Music Based Trajectory Optimization.

Melya Boukheddimi, Daniel Harnack, Shivesh Kumar, Rohit Kumar, Shubham Vyas, Octavio Arriaga, Frank Kirchner

Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, 2022

Whole-Body Control of Series-Parallel Hybrid Robots.

Dennis Mronga, Shivesh Kumar, Frank Kirchner

Proceedings of the 2022 International Conference on Robotics and Automation, 2022

Introducing RH5 Manus: A Powerful Humanoid Upper Body Design for Dynamic Movements.

Melya Boukheddimi, Shivesh Kumar, Heiner Peters, Dennis Mronga, Rohan Budhiraja, Frank Kirchner

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.

Lukas Gross, Lasse Maywald, Shivesh Kumar, Frank Kirchner, Christoph Lüth

Proceedings of the 61st IEEE Conference on Decision and Control, 2022

Kinematic Analysis of a Novel Humanoid Wrist Parallel Mechanism.

Christoph Stoeffler, Adriano del Rio Fernandez, Heiner Peters, Moritz Schilling, Shivesh Kumar

Proceedings of the Advances in Robot Kinematics 2022, 2022

2021

Nth Order Analytical Time Derivatives of Inverse Dynamics in Recursive and Closed Forms.

Shivesh Kumar, Andreas Müller

Proceedings of the IEEE International Conference on Robotics and Automation, 2021

Design, analysis and control of the series-parallel hybrid RH5 humanoid robot.

Julian Eßer, Shivesh Kumar, Heiner Peters, Vinzenz Bargsten, Jose de Gea Fernandez, Carlos Mastalli, Olivier Stasse, Frank Kirchner

Proceedings of the 20th IEEE-RAS International Conference on Humanoid Robots, 2021

2020

A Development Cycle for Automated Self-Exploration of Robot Behaviors.

Thomas M. Roehr, Daniel Harnack, Hendrik Wöhrle, Felix Wiebe, Moritz Schilling, Oscar Lima, Malte Langosz, Shivesh Kumar, Sirko Straube, Frank Kirchner

CoRR, 2020

Comparison of Distal Teacher Learning with Numerical and Analytical Methods to Solve Inverse Kinematics for Rigid-Body Mechanisms.

Tim von Oehsen, Alexander Fabisch, Shivesh Kumar, Frank Kirchner

CoRR, 2020

Combinatorics of a Discrete Trajectory Space for Robot Motion Planning.

Felix Wiebe, Shivesh Kumar, Daniel Harnack, Malte Langosz, Hendrik Wöhrle, Frank Kirchner

Proceedings of the 2nd IMA Conference on Mathematics of Robotics, 2020

A Comparative Study on 2-DOF Variable Stiffness Mechanisms.

Christoph Stoeffler, Shivesh Kumar, Andreas Müller

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)

Shivesh Kumar

PhD thesis, 2019

Sensorless full body active compliance in a 6 DOF parallel manipulator.

Anirvan Dutta, Durgesh Haribhau Salunkhe, Shivesh Kumar, Arun Dayal Udai, Suril Vijaykumar Shah

Robotics Comput. Integr. Manuf., 2019

Design and Kinematic Analysis of the Novel Almost Spherical Parallel Mechanism Active Ankle.

Shivesh Kumar, Bertold Bongardt, Marc Simnofske, Frank Kirchner

J. Intell. Robotic Syst., 2019

A Secure Access Control Model for E-health Cloud.

Ashish Singh, Umesh Chandra, Shivesh Kumar, Kakali Chatterjee

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.

Shivesh Kumar, Julius Martensen, Andreas Müller, Frank Kirchner

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.

Christoph Stoeffler, Shivesh Kumar, Heiner Peters, Olivier Brüls, Andreas Müller, Frank Kirchner

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.

Shivesh Kumar, Abhilash Nayak, Heiner Peters, Christopher Schulz, Andreas Müller, Frank Kirchner

Proceedings of the Advances in Robot Kinematics 2018, 2018

2017

Integrating Mimic Joints into Dynamics Algorithms: Exemplified by the Hybrid Recupera Exoskeleton.

Shivesh Kumar, Marc Simnofske, Bertold Bongardt, Andreas Müller, Frank Kirchner

Proceedings of the Advances in Robotics, 2017

2016

Model-based and experimental analysis of the symmetry in human walking in different device carrying modes.

Shivesh Kumar, Valérie Renaudin, Yannick Aoustin, Eric Le Carpentier, Christophe Combettes

Proceedings of the 6th IEEE International Conference on Biomedical Robotics and Biomechatronics, 2016