Jun 2022 // journal-article
Torque-limited simple pendulum: A toolkit for getting
familiar with control algorithms in underactuated robotics
Journal of Open Source Software
Felix Wiebe; Jonathan Babel; Shivesh Kumar; Shubham Vyas; Daniel Harnack; Melya Boukheddimi; Mihaela Popescu; Frank Kirchner
May 2022 // conference-paper
Whole-Body Control of Series-Parallel Hybrid Robots
2022 International Conference on Robotics and Automation (ICRA)
Dennis Mronga; Shivesh Kumar; Frank Kirchner
May 2022 // conference-paper
Introducing RH5 Manus: A Powerful Humanoid Upper Body Design for Dynamic Movements
2022 International Conference on Robotics and Automation (ICRA)
Melya Boukheddimi; Shivesh Kumar; Heiner Peters; Dennis Mronga; Rohan Budhiraja; Frank Kirchner
Apr 2022 // book-chapter
Design and Control of a Portable Continuum Robot for Pipe Inspection Assisted by a Rigid Manipulator
Soft Robotics
Mar 2022 // conference-paper
Towards a Semi-Autonomous Robotic Exploration of a Lunar Skylight Cavity
2022 IEEE Aerospace Conference (AERO)
Roland U. Sonsalla; Steffen Planthaber; Raul Dominguez; Alexander Dettmann; Florian Cordes; Benjamin Huelsen; Christopher Schulz; Patrick Schoeberl; Sebastian Kasperski; Henning Wiedemann; Frank Kirchner
Jan 2022 // journal-article
Human-centered AI and robotics
AI Perspectives
Stephane Doncieux; Raja Chatila; Sirko Straube; Frank Kirchner
2022 // journal-article
Unsupervised Segmentation of Human Manipulation Movements Into Building Blocks
IEEE Access
Lisa Gutzeit; Frank Kirchner
2022 // journal-article
Analytic Estimation of Region of Attraction of an LQR Controller for Torque Limited Simple Pendulum
ArXiv
Gross, Lukas; Maywald, Lasse; Kumar, Shivesh; Kirchner, Frank; Luth, Christoph
DOI:
2022 // other
Quantum Deep Reinforcement Learning for Robot Navigation Tasks
arXiv
Heimann, D.; Hohenfeld, H.; Wiebe, F.; Kirchner, F.
DOI:
2022 // journal-article
DoraHand: a novel dexterous hand with tactile sensing finger module
Industrial Robot
Wang, T.; Xie, Z.; Li, Y.; Zhang, Y.; Zhang, H.; Kirchner, F.
DOI: 10.1108/IR-12-2021-0303
2022 // conference-paper
Whole-Body Control of Series-Parallel Hybrid Robots
IEEE International Conference on Robotics and Automation
Mronga, Dennis; Kumar, Shivesh; Kirchner, Frank
2022 // conference-paper
Multi-modal manipulation planning for an upper-torso humanoid system
IEEE-RAS International Conference on Humanoid Robots
Natarajan, Sankaranarayanan; Kirchner, Frank
DOI:
2022 // journal-article
Learning capability of parametrized quantum circuits
ArXiv
Heimann, Dirk; Schoenhoff, Gunnar; Kirchner, Frank
DOI:
2022 // conference-paper
Combinatorics of a Discrete Trajectory Space for Robot Motion Planning
2nd IMA Conference on Mathematics of Robotics (IMA 2020)
Felix Wiebe; Shivesh Kumar; Daniel Harnack; Malte Langosz; Hendrik Wöhrle; Frank Kirchner
2022 // conference-paper
The Influence of Labeling Techniques in Classifying Human Manipulation Movement of Different Speed
Proceedings of the 11th International Conference on Pattern Recognition Applications and Methods
Sadique Siddiqui; Lisa Gutzeit; Frank Kirchner
2022 // journal-article
Quantum Deep Reinforcement Learning for Robot Navigation Tasks
ArXiv
Heimann, Dirk; Hohenfeld, Hans; Wiebe, Felix; Kirchner, Frank
DOI:
Dec 2021 // journal-article
A development cycle for automated self-exploration of robot behaviors
AI Perspectives
Thomas Roehr; Daniel Harnack; Hendrik Wöhrle; Felix Wiebe; Moritz Schilling; Oscar Lima; Malte Langosz; Shivesh Kumar; Sirko Straube; Frank Kirchner
Sep 2021 // conference-paper
DESIGN AND ENVIRONMENTAL TESTING OF THE DFKI-X ROBOTICS JOINT FOR SPACE APPLICATIONS
19th European Space Mechanisms and Tribology Symposium (ESMATS)
Mulsow, Niklas; Sonsalla, Rol; Schöberl, Patrick; Stark, Tobias; Kirchner, Frank
DOI:
Jul 2021 // journal-article
Learning context-adaptive task constraints for robotic manipulation
Robotics and Autonomous Systems
Dennis Mronga; Frank Kirchner
May 2021 // journal-article
Establishment of cooperative research data management in the U Bremen Research Alliance
Iris Pigeot; Frank Oliver Glöckner; Rolf Drechsler; Tanja Hörner; Derk Hergen Schönfeld; Lena Steinmann; Björn Oliver Schmidt
2021 // other
Grasp stability prediction with time series data based on STFT and LSTM
arXiv
Wang, T.; Kirchner, F.
DOI:
2021 // conference-paper
Terrain Adaption Controller for a Walking Excavator Robot using Deep Reinforcement Learning
2021 20th International Conference on Advanced Robotics, ICAR 2021
Babu, A.; Kirchner, F.
DOI: 10.1109/ICAR53236.2021.9659399
2021 // journal-article
Learning Context-Adaptive Task Constraints for Robotic Manipulation
ArXiv
Mronga, Dennis; Kirchner, Frank
DOI:
2021 // conference-paper
Design, analysis and control of the series-parallel hybrid RH5 humanoid robot
IEEE-RAS International Conference on Humanoid Robots
Eßer, J.; Kumar, S.; Peters, H.; Bargsten, V.; De Gea Fernandez, J.; Mastalli, C.; Stasse, O.; Kirchner, F.
DOI: 10.1109/HUMANOIDS47582.2021.9555770
2021 // journal-article
A Development Cycle for Automated Self-Exploration of Robot Behaviors
ArXiv
M. Roehr, Thomas; Harnack, Daniel; Wohrle, Hendrik; Wiebe, Felix; Schilling, Moritz; Lima, Oscar; Langosz, Malte; Kumar, Shivesh; Straube, Sirko; Kirchner, Frank
DOI:
