Sep 2022 // journal-article
Post-capture detumble trajectory stabilization for robotic active debris removal
Advances in Space Research
Shubham Vyas; Lasse Maywald; Shivesh Kumar; Marko Jankovic; Andreas Mueller; Frank Kirchner
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
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
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
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
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
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
DOI: 10.48550/arxiv.2202.02426
2022 // journal-article
Unsupervised Segmentation of Human Manipulation Movements Into Building Blocks
IEEE Access
Lisa Gutzeit; Frank Kirchner
2022 // other
Learning capability of parametrized quantum circuits
arXiv
Heimann, D.; Schönhoff, G.; Mounzer, E.; Hohenfeld, H.; Kirchner, F.
DOI: 10.48550/arXiv.2209.10345
2022 // other
Multi-stage warm started optimal motion planning for over-actuated mobile platforms
arXiv
Paz-Delgado, G.J.; Pérez-Del-Pulgar, C.J.; Azkarate, M.; Kirchner, F.; García-Cerezo, A.
DOI: 10.48550/arXiv.2207.14659
2022 // journal-article
Momentum based classification for robotic active debris removal
Journal of Space Safety Engineering
Vyas, S.; Jankovic, M.; Kirchner, F.
DOI: 10.1016/j.jsse.2022.09.008
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
DOI: 10.1007/978-3-030-91352-6_6
2022 // other
Quantum Deep Reinforcement Learning for Robot Navigation Tasks
arXiv
Hohenfeld, H.; Heimann, D.; Wiebe, F.; Kirchner, F.
DOI: 10.48550/arXiv.2202.12180
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
DOI: 10.48550/arxiv.2008.02610
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 // conference-paper
Surrogate Model based Co-Optimization of Deep Neural Network Hardware Accelerators
Midwest Symposium on Circuits and Systems
Wohrle, H.; De Lucas Alvarez, M.; Schlenke, F.; Walsemann, A.; Karagounis, M.; Kirchner, F.
DOI: 10.1109/MWSCAS47672.2021.9531708
2021 // other
Design, analysis and control of the series-parallel hybrid RH5 humanoid robot
arXiv
Esser, J.; Kumar, S.; Peters, H.; Bargsten, V.; de Gea Fernandez, J.; Mastalli, C.; Stasse, O.; Kirchner, F.
DOI: 10.48550/arxiv.2101.10591
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
Dec 2020 // journal-article
AI-perspectives: the Turing option
AI Perspectives
Frank Kirchner
Apr 2020 // journal-article
An Analytical and Modular Software Workbench for Solving Kinematics and Dynamics of Series-Parallel Hybrid Robots
Journal of Mechanisms and Robotics
Shivesh Kumar; Kai Alexander von Szadkowski; Andreas Mueller; Frank Kirchner
2020 // journal-article
A survey on modularity and distributivity in series-parallel hybrid robots
Mechatronics
Kumar, S.; Wöhrle, H.; de Gea Fernández, J.; Müller, A.; Kirchner, F.
DOI: 10.1016/j.mechatronics.2020.102367
