Mitarbeiter

Shivesh Kumar, M.Sc.

Organisation :	DFKI GmbH
Bereich :	Robotics Innovation Center
Status :	Mitarbeiter


Raumnr. HB :	A 0.11
Adresse HB :


Telefon HB :	+49 421 17845 4144
E-Mail :	Shivesh.Kumar@dfki.de
Lebenslauf:	PDF-Download

Publikationen

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.

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 o.A., 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 Alexander 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, (ARK-2018), 01.7.-05.7.2018, Bologna, Springer-Verlag GmbH, Jul/2018.

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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