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 // conference-paper
Ricmonk: A Three-Link Brachiation Robot with Passive Grippers for Energy-Efficient Brachiation
Proceedings - IEEE International Conference on Robotics and Automation
Grama, S.S.; Javadi, M.; Kumar, S.; Boroujeni, H.Z.; Kirchner, F.
DOI: 10.1109/ICRA57147.2024.10611003
2024 // conference-paper
Enhanced multifunctional interface for reconfigurability of robotic teams in planetary applications
Proceedings - IEEE International Conference on Robotics and Automation
Yüksel, M.; Brinkmann, W.; Jankovic, M.; Küçüker, H.D.; Kirchner, F.
DOI: 10.1109/ICRA57147.2024.10610642
2024 // conference-paper
Robust Co-Design of Canonical Underactuated Systems for Increased Certifiable Stability
Proceedings - IEEE International Conference on Robotics and Automation
Girlanda, F.; Shala, L.; Kumar, S.; Kirchner, F.
DOI: 10.1109/ICRA57147.2024.10611645
2024 // other
ITPNet: Initial Trajectory Prediction Network - A deep learning framework for predicting initial trajectories to warm start optimization-based motion planners
Research Square
Natarajan, S.; Kirchner, F.
DOI: 10.21203/rs.3.rs-4110511/v1
2024 // conference-paper
IntEr-HRI Competition: Intrinsic Error Evaluation during Human-Robot Interaction
IJCAI International Joint Conference on Artificial Intelligence
Chari, K.; Kueper, N.; Kim, S.K.; Kirchner, F.; Kirchner, E.A.
DOI:
2024 // conference-paper
Bayesian Inverse Graphics for Few-Shot Concept Learning
Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Arriaga, O.; Guo, J.; Adam, R.; Houben, S.; Kirchner, F.
DOI: 10.1007/978-3-031-71167-1_8
