5 citations · 8 across the 5 of their papers we have counts for
7 papers · 1 filter
An efficient combined local and global search strategy for optimization of parallel kinematic mechanisms with joint limits and collision constraints
Haribhau Durgesh, Guillaume Michel, Shivesh Kumar +2
The optimization of parallel kinematic manipulators (PKM) involve several constraints that are difficult to formalize, thus making optimal synthesis problem highly challenging. The…
Nth Order Analytical Time Derivatives of Inverse Dynamics in Recursive and Closed Forms
Shivesh Kumar, Andreas Mueller
Derivatives of equations of motion describing the rigid body dynamics are becoming increasingly relevant for the robotics community and find many applications in design and control…
Design, analysis and control of the series-parallel hybrid RH5 humanoid robot
Julian Esser, Shivesh Kumar, Heiner Peters +5
Last decades of humanoid research has shown that humanoids developed for high dynamic performance require a stiff structure and optimal distribution of mass--inertial properties. H…
A Development Cycle for Automated Self-Exploration of Robot Behaviors
Thomas M. Roehr, Daniel Harnack, Hendrik Wöhrle +7
In this paper we introduce Q-Rock, a development cycle for the automated self-exploration and qualification of robot behaviors. With Q-Rock, we suggest a novel, integrative approac…
Combinatorics of a Discrete Trajectory Space for Robot Motion Planning
Felix Wiebe, Shivesh Kumar, Daniel Harnack +3
Motion planning is a difficult problem in robot control. The complexity of the problem is directly related to the dimension of the robot's configuration space. While in many theore…
A Comparative Study on 2-DOF Variable Stiffness Mechanisms
Christoph Stoeffler, Shivesh Kumar, Andreas Müller
Based on the idea of variable stiffness mechanisms, a variety of such mechanisms is shown in this work. Specifically, 2-DOF parallel kinematic machines equipped with redundant actu…