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 // 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
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 // 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:
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
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
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
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
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
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
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 // 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
Quantum Deep Reinforcement Learning for Robot Navigation Tasks
arXiv
Hohenfeld, H.; Heimann, D.; Wiebe, F.; Kirchner, F.
DOI: 10.48550/arXiv.2202.12180
