20 citations · 69 across the 14 of their papers we have counts for
15 papers
A Recursive Lie-Group Formulation for the Second-Order Time Derivatives of the Inverse Dynamics of parallel Kinematic Manipulators
Andreas Mueller, Shivesh Kumar, Thomas Kordik
Series elastic actuators (SEA) were introduced for serial robotic arms. Their model-based trajectory tracking control requires the second time derivatives of the inverse dynamics s…
Closed Form Time Derivatives of the Equations of Motion of Rigid Body Systems
Andreas Mueller, Shivesh Kumar
Derivatives of equations of motion(EOM) describing the dynamics of rigid body systems are becoming increasingly relevant for the robotics community and find many applications in de…
RicMonk: A Three-Link Brachiation Robot with Passive Grippers for Energy-Efficient Brachiation
Shourie S. Grama, Mahdi Javadi, Shivesh Kumar +2
This paper presents the design, analysis, and performance evaluation of RicMonk, a novel three-link brachiation robot equipped with passive hook-shaped grippers. Brachiation, an ag…
Deriving Rewards for Reinforcement Learning from Symbolic Behaviour Descriptions of Bipedal Walking
Daniel Harnack, Christoph Lüth, Lukas Gross +2
Generating physical movement behaviours from their symbolic description is a long-standing challenge in artificial intelligence (AI) and robotics, requiring insights into numerical…
Towards Continuous Time Finite Horizon LQR Control in SE(3)
Shivesh Kumar, Andreas Mueller, Patrick Wensing +1
The control of free-floating robots requires dealing with several challenges. The motion of such robots evolves on a continuous manifold described by the Special Euclidean Group of…
End-to-End Reinforcement Learning for Torque Based Variable Height Hopping
Raghav Soni, Daniel Harnack, Hannah Isermann +3
Legged locomotion is arguably the most suited and versatile mode to deal with natural or unstructured terrains. Intensive research into dynamic walking and running controllers has…