2023 // other
LINEAR MODEL PREDICTIVE CONTROL FOR A PLANAR FREE-FLOATING PLATFORM: A COMPARISON OF BINARY INPUT CONSTRAINT FORMULATIONS
arXiv
Stark, F.; Vyas, S.; Schildbach, G.; Kirchner, F.
DOI: 10.48550/arXiv.2312.10788
2023 // conference-paper
PhysWM: Physical World Models for Robot Learning
NeSy’23: 17th International Workshop on Neural-Symbolic Learning and Reasoning, Certosa di Pontignano, Siena, Italy
Prof. Dr. Dr. h.c. Frank Kirchner; Marc Otto; Octavio Arriaga; Chandandeep Singh; Jichen Guo
DOI:
2023 // journal-article
Actuator-level motion and contact episode learning and classification using adaptive resonance theory
Intelligent Service Robotics
Bargsten, V.; Kirchner, F.
DOI: 10.1007/s11370-023-00481-7
2023 // other
Deriving Rewards for Reinforcement Learning from Symbolic Behaviour Descriptions of Bipedal Walking
arXiv
Harnack, D.; Lüth, C.; Gross, L.; Kumar, S.; Kirchner, F.
DOI: 10.48550/arXiv.2312.10328
2023 // conference-paper
Sonar2Depth: Acoustic-Based 3D Reconstruction Using cGANs
IEEE International Conference on Intelligent Robots and Systems
Jaber, N.; Wehbe, B.; Kirchner, F.
DOI: 10.1109/IROS55552.2023.10342251
2023 // other
EEG & EMG dataset for the detection of errors introduced by an active orthosis device
arXiv
Kueper, N.; Chari, K.; Bütefür, J.; Habenicht, J.; Kim, S.K.; Rossol, T.; Tabie, M.; Kirchner, F.; Kirchner, E.A.
DOI:
2023 // book-chapter
The Challenge of Autonomy: What We Can Learn from Research on Robots Designed for Harsh Environments
Robots in Care and Everyday Life
Sirko Straube; Nina Hoyer; Niels Will; Frank Kirchner
2023 // conference-paper
Concept and design of an autonomous micro rover for long term lunar exploration
Proceedings of the International Astronautical Congress, IAC
Mulsow, N.A.; Hülsen, B.; Gützlaff, J.; Spies, L.; Bresser, A.; Dabrowski, A.; Czupalla, M.; Kirchner, F.
DOI:
2023 // other
Towards Continuous Time Finite Horizon LQR Control in SE(3)
arXiv
Kumar, S.; Mueller, A.; Wensing, P.; Kirchner, F.
DOI:
2023 // other
Teach Me How to Learn: A Perspective Review towards User-centered Neuro-symbolic Learning for Robotic Surgical Systems
arXiv
Gomaa, A.; Mahdy, B.; Kleer, N.; Feld, M.; Kirchner, F.; Krüger, A.
DOI:
2023 // book
KI-Technologie für Unterwasserroboter
Springer International Publishing
2023 // journal-article
Combined Path and Motion Planning for Workspace Restricted Mobile Manipulators in Planetary Exploration
IEEE Access
Paz-Delgado, G.J.; Sanchez-Ibanez, J.R.; Dominguez, R.; Perez-Del-Pulgar, C.J.; Kirchner, F.; Garcia-Cerezo, A.
DOI: 10.1109/ACCESS.2023.3298980
2023 // conference-paper
Fast Dynamic Walking with RH5 Humanoid Robot
IEEE-RAS International Conference on Humanoid Robots
Bergonzani, I.; Popescu, M.; Kumar, S.; Kirchner, F.
DOI: 10.1109/Humanoids57100.2023.10375193
2023 // conference-paper
CoBaIR: A Python Library for Context-Based Intention Recognition in Human-Robot-Interaction
IEEE International Workshop on Robot and Human Communication, RO-MAN
Lubitz, A.; Gutzeit, L.; Kirchner, F.
DOI: 10.1109/RO-MAN57019.2023.10309581
Dec 2022 // journal-article
Experimental Investigations into Using Motion Capture State Feedback for Real-Time Control of a Humanoid Robot
Sensors
Mihaela Popescu; Dennis Mronga; Ivan Bergonzani; Shivesh Kumar; Frank Kirchner
Dec 2022 // conference-paper
Analytic Estimation of Region of Attraction of an LQR Controller for Torque Limited Simple Pendulum
2022 IEEE 61st Conference on Decision and Control (CDC)
Lukas Gross; Lasse Maywald; Shivesh Kumar; Frank Kirchner; Christoph Luth
DOI: 10.48550/arXiv.2211.15437
Nov 2022 // conference-paper
Multi-Modal Manipulation Planning for an Upper-Torso Humanoid System
2022 IEEE-RAS 21st International Conference on Humanoid Robots (Humanoids)
Sankaranarayanan Natarajan; Frank Kirchner
DOI: 10.1109/Humanoids53995.2022.10000144
Oct 2022 // journal-article
ARTER: a walking excavator robot for autonomous and remote operations
at - Automatisierungstechnik
Ajish Babu; Leon Cedric Danter; Pierre Willenbrock; Sankaranarayanan Natarajan; Daniel Kuehn; Frank Kirchner
Oct 2022 // conference-paper
Modular and Hybrid Numerical-Analytical Approach - A Case Study on Improving Computational Efficiency for Series-Parallel Hybrid Robots
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Rohit Kumar; Shivesh Kumar; Andreas Muller; Frank Kirchner
Oct 2022 // conference-paper
Co-optimization of Acrobot Design and Controller for Increased Certifiable Stability
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Lasse Jenning Maywald; Felix Wiebe; Shivesh Kumar; Mahdi Javadi; Frank Kirchner
Oct 2022 // conference-paper
Robot Dance Generation with Music Based Trajectory Optimization
2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Melya Boukheddimi; Daniel Harnack; Shivesh Kumar; Rohit Kumar; Shubham Vyas; Octavio Arriaga; Frank Kirchner
Oct 2022 // conference-paper
Necessity of Hydrostatic Stability in Autonomous Underwater Vehicles on Intervention Missions
OCEANS 2022, Hampton Roads
Tobias Rossol; Christian Ernst Siegfried Koch; Ralf Bachmayer; Frank Kirchner
Sep 2022 // conference-paper
A Standard Interconnect Benchmark for a European In-orbit Services, Manufacturing and Assembly (ISMA) Demonstrator
73rd International Astronautical Congress 2022, (IAC-2022)
Wiebke Brinkmann; Mehmed Yüksel; Marko Jankovic; Malte Wirkus; Jona Saffer; Isabel Soto; Jeremi Gancet; Pierre Letier; Thomas A. Schervan; Joerg Kreisel; Stephane Estable; Frank Kirchner
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
