May 2025 // conference-paper
Enhancing Heterogeneous Multi-Robot Teaming for Planetary Exploration
Amrita Suresh; Melvin Laux; Wiebke Brinkmann; Leon C. Danter; Frank Kirchner
Mar 2025 // conference-paper
Prediction-Based Tip-Over Prevention for Planetary Exploration Rovers
Siddhant Shete; Raúl Domínguez; Ravisankar Selvaraju; Mariela De Lucas Álvarez; Frank Kirchner
Mar 2025 // conference-paper
Toward Sustainable Space Exploration: Designing an AI-Powered Modular Toolbox for Future Planetary Exploration
Wiebke Brinkmann; Moritz Schilling; Priyanka Chowdhury; Jonas Eisenmenger; Jonas Benz; Malte Langosz; Jieying Li; Erik Michelson; Mehmed Yüksel; Frank Kirchner
Jan 2025 // conference-paper
Look Ahead Optimization for Managing Nullspace in Cartesian Impedance Control of Dual-Arm Robots
2025 IEEE/SICE International Symposium on System Integration (SII)
Vamsi Krishna Origanti; Adrian Danzglock; Frank Kirchner
2025 // edited-book
Biologically Inspired Series-Parallel Hybrid Robots
Elsevier
Shivesh Kumar; Andreas Müller; Prof. Dr. Dr. h.c. Frank Kirchner
Dec 2024 // journal-article
The ARC-OPT Library for Whole-Body Control of Robotic Systems
Journal of Open Source Software
Dennis Mronga; Frank Kirchner
Nov 2024 // conference-paper
Sitting, Standing and Walking Control of the Series-Parallel Hybrid Recupera-Reha Exoskeleton
2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids)
Ibrahim Tijjani; Rohit Kumar; Melya Boukheddimi; Mathias Trampler; Shivesh Kumar; Frank Kirchner
Nov 2024 // conference-paper
Real-Time Dynamic Gesture Recognition for Human-Robot Collaboration in Rescue Operations
2024 IEEE International Symposium on Safety Security Rescue Robotics (SSRR)
Shefali Dewangan; Vamsi Krishna Origanti; Frank Kirchner
Nov 2024 // conference-paper
KRIS: A Robot for Material Transport in Relief Situations
2024 IEEE International Symposium on Safety Security Rescue Robotics (SSRR)
Martin Mallwitz; Daniel Weissenrieder; Vamsi Krishna Origanti; Tom Becker; Milan Sixt; Malika Navaratna Helapita Ralalagc; Felix Bernhard; Christian School; Miguel Martínez Genis; Fabian Maas Genannt Bermpoh; Mehmed Yüksel; Frank Kirchner
Oct 2024 // conference-paper
Tether management and docking system for multi-robot rappelling into lunar lava tubes
Jonathan Babel; Leon Cedric Danter; Gonzalo Paz Delgado; Raúl Dominguez; Yogeshkarna Govindaraj; Mehmed Yüksel; Frank Kirchner
Oct 2024 // conference-paper
Attitude Control of the Hydrobatic Intervention AUV Cuttlefish using Incremental Nonlinear Dynamic Inversion
2024 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Tom Slawik; Shubham Vyas; Leif Christensen; Frank Kirchner
Sep 2024 // conference-paper
Autonomous Docking between a Mobile Subsea Docking Station and an AUV while in Motion
Nikolas Dahn; Christopher Gaudig; Tim Lehr; Niklas Pech; Peter Kampmann; Leif Christensen; Frank Kirchner
Sep 2024 // conference-paper
An Acoustic and Optical Dataset for the Perception of Underwater Unexploded Ordnance (UXO)
Nikolas Dahn; Miguel Bande Firvida; Proneet Sharma; Leif Christensen; Oliver Geisle; Jochen Mohrmann; Torsten Frey; Prithvi Kumar Sanghamreddy; Frank Kirchner
Aug 2024 // conference-paper
Fusion of Inertial Sensor Suit and Monocular Camera for 3D Human Pelvis Pose Estimation
2024 33rd IEEE International Conference on Robot and Human Interactive Communication (ROMAN)
Mihaela Popescu; Kashmira Shinde; Proneet Sharma; Lisa Gutzeit; Frank Kirchner
Jun 2024 // conference-paper
Development strategies for multi-robot teams in context of planetary exploration
2024 International Conference on Space Robotics (iSpaRo)
Wiebke Brinkmann; Leon Danter; Amrita Suresh; Mehmed Yüksel; Manuel Meder; Frank Kirchner
Jun 2024 // conference-paper
Gait Analysis and Control of Rimless Wheel Rovers for Planetary Exploration
2024 International Conference on Space Robotics (iSpaRo)
Dennis Schlee; Shubham Vyas; Rauĺ Domínguez; Frank Kirchner
Jun 2024 // conference-paper
Mixed Integer Model Predictive Control for a free-floating platform with binary and continuous actuation
Stark, Franek; Vyas, Shubham; Schildbach, Georg; Kirchner, Frank
DOI:
May 2024 // journal-article
MARLIN: A cloud integrated robotic solution to support intralogistics in retail
Robotics and Autonomous Systems
Dennis Mronga; Andreas Bresser; Fabian Maas genannt Bermpohl; Adrian Danzglock; Simon Stelter; Alina Hawkin; Hoang Giang Nguyen; Michael Beetz; Frank Kirchner
DOI: 10.48550/arXiv.2407.02078
Apr 2024 // journal-article
Comparative study of soil interaction and driving characteristics of different agricultural and space robots in an agricultural environment
Journal of Field Robotics
Malte Wirkus; Stefan Hinck; Christian Backe; Jonathan Babel; Vadim Riedel; Nele Reichert; Andrej Kolesnikov; Tobias Stark; Jens Hilljegerdes; Hilmi Dogu Kücüker; Arno Ruckelshausen; Prof. Dr. Dr. h.c. Frank Kirchner
Apr 2024 // data-set
RoBivaL data corpus
Christian Backe; Malte Wirkus; Stefan Hinck; Jonathan Babel; Vadim Riedel; Nele Reichert; Andrej Kolesnikov; Tobias Stark; Jens Hilljegerdes; Hilmi Dogu Kücüker; Emir Barcic; Eduard Klink; Arno Ruckelshausen; Frank Kirchner
2024 // other
Online-Adaptive Anomaly Detection for Defect Identification in Aircraft Assembly
arXiv
Shete, S.; Mronga, D.; Jadhav, A.; Kirchner, F.
DOI: 10.48550/arXiv.2406.12698
2024 // journal-article
EEG and EMG dataset for the detection of errors introduced by an active orthosis device
Frontiers in Human Neuroscience
Kueper, N.; Chari, K.; Bütefür, J.; Habenicht, J.; Rossol, T.; Kim, S.K.; Tabie, M.; Kirchner, F.; Kirchner, E.A.
DOI: 10.3389/fnhum.2024.1304311
2024 // journal-article
Open Source Dual-Purpose Acrobot and Pendubot Platform: Benchmarking Control Algorithms for Underactuated Robotics
IEEE Robotics and Automation Magazine
Wiebe, F.; Kumar, S.; Shala, L.J.; Vyas, S.; Javadi, M.; Kirchner, F.
DOI: 10.1109/MRA.2023.3341257
2024 // other
AUV TRAJECTORY OPTIMIZATION WITH HYDRODYNAMIC FORCES FOR ICY MOON EXPLORATION
arXiv
Rust, L.; Vyas, S.; Wehbe, B.; Kirchner, F.
DOI: 10.48550/arXiv.2406.09929
2024 // conference-paper
Reinforcement Learning for Athletic Intelligence: Lessons from the 1st “AI Olympics with RealAIGym” Competition
IJCAI International Joint Conference on Artificial Intelligence
Wiebe, F.; Turcato, N.; Dalla Libera, A.; Zhang, C.; Vincent, T.; Vyas, S.; Giacomuzzo, G.; Carli, R.; Romeres, D.; Sathuluri, A.; Zimmermann, M.; Belousov, B.; Peters, J.; Kirchner, F.; Kumar, S.
DOI:
