Mitarbeiter

Dr. rer. nat. Shivesh Kumar

Organisation : DFKI GmbH
Bereich : Robotics Innovation Center
Status : Mitarbeiter
Raumnr. HB : B 1.15
Adresse HB : Robert-Hooke-Str. 1
28359 Bremen
Telefon HB : +49 421 17845 4144
E-Mail : Shivesh.Kumar@dfki.de
Lebenslauf: PDF-Download


Publikationen

2022

Torque-limited simple pendulum: A toolkit for getting familiar with control algorithms in underactuated robotics
Felix Wiebe, Jonathan Babel, Shivesh Kumar, Shubham Vyas, Daniel Harnack, Melya Boukheddimi, Mihaela Popescu, Frank Kirchner
In Journal of Open Source Software, The Open Journal, volume 7, number 74, pages 1-7, Jun/2022.
Kinematic Analysis of a Novel Humanoid Wrist Parallel Mechanism
Christoph Stoeffler, Adriano del Rio Fernandez, Heiner Peters, Moritz Schilling, Shivesh Kumar
Editors: Bruno Siciliano, Oussama Khatib
In ARK 2022: Advances in Robot Kinematics 2022, (ARK-2022), 27.6.-30.6.2022, Bilbao, Springer, series Springer Proceedings in Advanced Robotics, volume 24, pages 348-355, Jun/2022. ISBN: 978-3-031-08140-8.
Design optimization of a parallel manipulator for otological surgery
Durgesh Haribhau Salunkhe, Guillaume Michel, Elise Olivier, Shivesh Kumar, Marcello Sanguineti, Damien Chablat
In 2022 Workshop: "New frontiers of parallel robotics" (second edition), (ICRA-2022), 23.5.-27.5.2022, Philadelphia, PA, IEEE, May/2022.
Quaternion based LQR for Free-Floating Robots without Gravity
Shubham Vyas, Bilal Wehbe, Shivesh Kumar
In 6th CEAS Conference on Guidance, Navigation, and Control, (EuroGNC-2022), 3.5.-5.5.2022, Berlin, CEAS, May/2022.
An efficient combined local and global search strategy for optimization of parallel kinematic mechanisms with joint limits and collision constraints
Durgesh Haribhau Salunkhe, Guillaume Michel, Shivesh Kumar, Marcello Sanguineti, Damien Chablat
In Mechanism and Machine Theory, Elsevier, volume 173, pages 1-32, Apr/2022.
A Survey on Design and Control of Lower Extremity Exoskeletons for Bipedal Walking
Ibrahim Tijjani, Shivesh Kumar, Melya Boukheddimi
In Applied Sciences, MDPI, volume 12, number 5, pages 1-31, Feb/2022.
Combinatorics of a Discrete Trajectory Space for Robot Motion Planning
Felix Wiebe, Shivesh Kumar, Daniel Harnack, Malte Langosz, Hendrik Wöhrle, Frank Kirchner
Editors: William Holderbaum, J. M. Selig
In 2nd IMA Conference on Mathematics of Robotics, (IMA-2022), 08.9.-10.9.2021, London, Springer International Publishing, series Springer Proceedings in Advanced Robotics, Jan/2022. ISBN: 9783030913519.
Whole-Body Control of Series-Parallel Hybrid Robots
Dennis Mronga, Shivesh Kumar, Frank Kirchner
In Accepted for Publication: IEEE International Conference on Robotics and Automation (ICRA), (ICRA-2022), 23.5.-27.5.2022, Philadelphia, IEEE, 2022.
Introducing RH5V2: A Powerful Humanoid Upper Body Design for Dynamic Movements
Melya Boukheddimi, Shivesh Kumar, Heiner Peters, Dennis Mronga, Rohan Budhiraja, Frank Kirchner
In Accepted for Publication: IEEE International Conference on Robotics and Automation (ICRA), (ICRA-2022), Philadelphia, IEEE, 2022.


2021

A Development Cycle for Automated Self-Exploration of Robot Behaviors
Thomas M. Roehr, Daniel Harnack, Hendrik Wöhrle, Felix Wiebe, Moritz Schilling, Oscar Lima, Malte Langosz, Shivesh Kumar, Sirko Straube, Frank Kirchner
In AI Perspectives, n.n., volume 3, number 1, pages o.A., Jul/2021.
Closed-form time derivatives of the equations of motion of rigid body systems
Andreas Müller, Shivesh Kumar
In Multibody System Dynamics, Springer, volume o.A., pages o.A., Jul/2021.
Design, Analysis and Control of the Series-Parallel Hybrid RH5 Humanoid Robot
Julian Eßer, Shivesh Kumar, Heiner Peters, Vinzenz Bargsten, José de Gea Fernández, Carlos Mastalli, Olivier Stasse, Frank Kirchner
In 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids), (Humanoids-2020), 19.7.-21.7.2021, Munich/Virtual, IEEE, pages 400-407, Jul/2021.
Nth Order Analytical Time Derivatives of Inverse Dynamics in Recursive and Closed Forms
Shivesh Kumar, Andreas Mueller
In 2021 IEEE International Conference on Robotics and Automation (ICRA), (ICRA-2021), 30.5.-05.6.2021, Xi'an, IEEE, Jun/2021. IEEE.


2020

A Comparative Study on 2-DOF Variable Stiffness Mechanisms
Christoph Stoeffler, Shivesh Kumar, Andreas Müller
Editors: Jadran Lenarčič, Bruno Siciliano
In Advances in Robot Kinematics 2020, Springer, pages 259-267, Jul/2020. ISBN: 978-3-030-50975-0.
A survey on modularity and distributivity in series-parallel hybrid robots
Shivesh Kumar, Hendrik Wöhrle, José de Gea Fernández, Andreas Mueller, Frank Kirchner
In Mechatronics, Elsevier Ltd., volume 68, pages 102-367, Jun/2020.
An Analytical and Modular Software Workbench for Solving Kinematics and Dynamics of Series-Parallel Hybrid Robots
Shivesh Kumar, Kai von Szadkowski, Andreas Mueller, Frank Kirchner
In Journal of Mechanisms and Robotics, ASME, volume 12, number 2, pages 1-12, Apr/2020.


2019

Model Simplification For Dynamic Control of Series-Parallel Hybrid Robots - A Representative Study on the Effects of Neglected Dynamics
Shivesh Kumar, Julius Martensen, Andreas Mueller, Frank Kirchner
In Proceedings in IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS-2019), 04.11.-08.11.2019, Macau, IEEE, Dec/2019.
Modular and Analytical Methods for Solving Kinematics and Dynamics of Series-Parallel Hybrid Robots
Shivesh Kumar
Nov/2019. Universität Bremen: Informatik/Mathematik.
An Analytical and Modular Software Workbench for Solving Kinematics and Dynamics of Series-Parallel Hybrid Robots
Shivesh Kumar, Andreas Mueller
In 43rd Mechanisms and Robotics Conference, Parts A and B, (IDETC/CIE-2019), 18.8.-21.8.2019, Anaheim, CA, ASME, Oct/2019.
A modular approach for kinematic and dynamic modeling of complex robotic systems using algebraic geometry
Shivesh Kumar, Andreas Müller
In Invited Talk at SIAM AG Conference, (SIAM AG-2019), 09.7.-13.7.2019, Bern, SIAM, Jul/2019.
Modular Design and Decentralized Control of the Recupera Exoskeleton for Stroke Rehabilitation
Shivesh Kumar, Hendrik Wöhrle, Mathias Trampler, Marc Simnofske, Heiner Peters, Martin Mallwitz, Elsa Andrea Kirchner, Frank Kirchner
In Applied Sciences, MDPI, volume 9, number 4, pages 626, Feb/2019.
Sensorless full body active compliance in a 6 DOF parallel manipulator
Anirvan Dutta, Durgesh Haribhau Salunkhe, Shivesh Kumar, Arun Dayal Udai, Suril V. Shah
In Robotics and Computer-Integrated Manufacturing, Elsevier, volume 59, pages 278-290, 2019.


2018

HyRoDyn: A Modular Software Framework for Solving Analytical Kinematics and Dynamics of Series-Parallel Hybrid Robots
Shivesh Kumar, Kai von Szadkowski, Andreas Müller, Frank Kirchner
In Poster at 2018 IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS-2018), 01.10.-05.10.2018, Madrid, IEEE/RSJ, series IROS Poster proceedings, pages 1-1, Oct/2018.
Kinematic analysis of a novel parallel 2SPRR+1U ankle mechanism in humanoid robot
Shivesh Kumar, Abhilash Nayak, Heiner Peters, Christopher Schulz, Andreas Mueller, Frank Kirchner
In Advances in Robot Kinematics 2018, (ARK-2018), 01.7.-05.7.2018, Bologna, Springer-Verlag GmbH, series Springer Proceedings in Advanced Robotics, volume 8, pages 431-439, Jul/2018. ISBN: 978-3-319-93188-3.
Design and Kinematic Analysis of the Novel Almost Spherical Parallel Mechanism Active Ankle
Shivesh Kumar, Bertold Bongardt, Marc Simnofske, Frank Kirchner
In Journal of Intelligent & Robotic Systems, Springer Nature, volume 94, number 2, pages 303-325, Mar/2018.
Conceptual Design of a Variable Stiffness Mechanism in a Humanoid Ankle using Parallel Redundant Actuation
Christoph Stoeffler, Shivesh Kumar, Heiner Peters, Olivier Bruels, Andreas Müller, Frank Kirchner
In IEEE-RAS International Conference on Humanoid Robots, (Humanoids-2018), 06.11.-09.11.2018, IEEE, 2018.


2017

Integrating Mimic Joints into Dynamics Algorithms – Exemplified by the Hybrid Recupera Exoskeleton
Shivesh Kumar, Marc Simnofske, Bertold Bongardt, Andreas Mueller, Frank Kirchner
In Proceedings of the 2017 Conference on Advances In Robotics, (AIR-2017), 28.6.-02.7.2017, New Delhi, ACM-ICPS, 2017.
Kinematic analysis of Active Ankle using computational algebraic geometry
Shivesh Kumar, Abhilash Nayak, Bertold Bongardt, Andreas Mueller, Frank Kirchner
In Computational Kinematics, (CK-2017), 22.5.-24.5.2017, Poitiers, Springer, 2017.


2016

Task space controller for the novel Active Ankle mechanism
Shivesh Kumar, Bertold Bongardt, Marc Simnofske, Frank Kirchner
In International Conference on Robotics and Automation for Humanitarian Applications, (RAHA-16), 18.12.-20.12.2016, Amritapuri, Kerala, IEEE, series RAHA 2016 Poster Proceedings, pages 22, Kerala, India, Dec/2016. Amrita University.
Recupera-Reha: Exoskeleton Technology with Integrated Biosignal Analysis for Sensorimotor Rehabilitation
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
In 2. Transdisziplinäre Konferenz "Technische Unterstützungssysteme, die die Menschen wirklich wollen", 12.12.-13.12.2016, Hamburg, Elsevier, pages 504-517, Dec/2016.
Active Ankle - an Almost-Spherical Parallel Mechanism
Marc Simnofske, Shivesh Kumar, Bertold Bongardt, Frank Kirchner
In 47th International Symposium on Robotics (ISR 2016), (ISR), 21.6.-22.6.2016, Munich, VDE Verlag, pages 37-42, Jun/2016.
Sensor-less Collision Detection and Isolation
Shivesh Kumar
series DFKI Documents, volume 16-01, Mar/2016. DFKI GmbH.



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