Planbasierte Robotersteuerung

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1. Shivesh Kumar; Andreas Müller

   A modular approach for kinematic and dynamic modeling of complex robotic systems using algebraic geometry

   In: Invited Talk at SIAM AG Conference. SIAM Conference on Applied Algebraic Geometry (SIAM AG-2019), Minisymposium on Algebraic Geometry for …

2. Shivesh Kumar; Hendrik Wöhrle; Mathias Trampler; Marc Simnofske; Heiner Peters; Martin Mallwitz; Elsa Andrea Kirchner; Frank Kirchner

   Modular Design and Decentralized Control of the Recupera Exoskeleton for Stroke Rehabilitation

   In: Applied Sciences, Vol. 9, No. 4 (626), Pages 1-23, MDPI, 2/2019.

3. Anirvan Dutta; Durgesh Haribhau Salunkhe; Shivesh Kumar; Arun Dayal Udai; Suril V. Shah

   Sensorless full body active compliance in a 6 DOF parallel manipulator

   In: Robotics and Computer-Integrated Manufacturing, Vol. 59, Pages 278-290, Elsevier, 2019.

4. Shivesh Kumar; Kai von Szadkowski; Andreas Müller; Frank Kirchner

   HyRoDyn: A Modular Software Framework for Solving Analytical Kinematics and Dynamics of Series-Parallel Hybrid Robots

   In: Poster at 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems. IEEE/RSJ International Conference on Intelligent Robots and …

5. Shivesh Kumar; Abhilash Nayak; Heiner Peters; Christopher Schulz; Andreas Mueller; Frank Kirchner

   Kinematic analysis of a novel parallel 2SPRR+1U ankle mechanism in humanoid robot

   In: Advances in Robot Kinematics 2018. International Symposium on Advances in Robot Kinematics (ARK-2018), July 1-5, Bologna, Italy, Pages 431-439, …

6. Shivesh Kumar; Bertold Bongardt; Marc Simnofske; Frank Kirchner

   Design and Kinematic Analysis of the Novel Almost Spherical Parallel Mechanism Active Ankle

   In: Journal of Intelligent & Robotic Systems (JIRS), Vol. 94, No. 2, Pages 303-325, Springer Nature, 3/2018.

7. Christoph Stoeffler; Shivesh Kumar; Heiner Peters; Olivier Bruels; Andreas Müller; Frank Kirchner

   Conceptual Design of a Variable Stiffness Mechanism in a Humanoid Ankle using Parallel Redundant Actuation

   In: IEEE-RAS International Conference on Humanoid Robots. IEEE-RAS International Conference on Humanoid Robots (Humanoids-2018), November 6-9, IEEE, …

8. Shivesh Kumar; Marc Simnofske; Bertold Bongardt; Andreas Mueller; Frank Kirchner

   Integrating Mimic Joints into Dynamics Algorithms – Exemplified by the Hybrid Recupera Exoskeleton

   In: Proceedings of the 2017 Conference on Advances In Robotics. Advances in Robotics (AIR-2017), 3rd International Conference of Robotics Society of …

9. Shivesh Kumar; Abhilash Nayak; Bertold Bongardt; Andreas Mueller; Frank Kirchner

   Kinematic analysis of Active Ankle using computational algebraic geometry

   In: Computational Kinematics. IFTOMM International Workshop on Computational Kinematics (CK-2017), May 22-24, Poitiers, France, Springer, 2017.

10. Elsa Andrea Kirchner; Niels Will; Marc Simnofske; Luis Manuel Vaca Benitez; Bertold Bongardt; Mario Michael Krell; Shivesh Kumar; Martin Mallwitz; Anett Seeland; Marc Tabie; Hendrik Wöhrle; Mehmed Yüksel; Anke Heß; Rüdiger Buschfort; Frank Kirchner

    Recupera-Reha: Exoskeleton Technology with Integrated Biosignal Analysis for Sensorimotor Rehabilitation

    In: 2. Transdisziplinäre Konferenz "Technische Unterstützungssysteme, die die Menschen wirklich wollen". Transdisziplinäre Konferenz "Technische …

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