Staff

Dr. Melya Boukheddimi

Organization : DFKI GmbH
Area : Robotics Innovation Center
Status : Staff
Room HB : B 1.12
Address HB : Robert-Hooke-Str. 1
28359 Bremen
Phone HB : +49 421 17845 4192
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Publications

2025

Adversarial Priors Unleashed with Soft Actor Critic
Nayari Lessa, Melya Boukheddimi, Frank Kirchner
In Women in Machine Learning Workshop (WiML 2025) at NeurIPS, (NeurIPS-2025), 02.12.-07.12.2025, San Diego, USA, n.n., Dec/2025.
Parallel Transmission Aware Co-Design: Enhancing Manipulator Performance Through Actuation-Space Optimization
Rohit Kumar, Melya Boukheddimi, Dennis Mronga, Shivesh Kumar, Frank Kirchner
In 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems, (IROS-2025), 19.10.-25.10.2025, Hangzhou, IEEE, Oct/2025.
Unlocking the Potential of Soft Actor-Critic for Imitation Learning
Nayari Lessa, Melya Boukheddimi, Frank Kirchner
In ArXiv e-prints, n.n., volume 8, pages 1-8, Oct/2025.

2024

Sitting, Standing and Walking Control of the Series- Parallel Hybrid Recupera-Reha Exoskeleton
Ibrahim Tijjani, Rohit Kumar, Melya Boukheddimi, Mathias Trampler, Shivesh Kumar, Frank Kirchner
In 2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids), (Humanoids-2024), 22.11.-24.11.2024, Nancy, IEEE, pages 113-120, Dec/2024. ISBN: 979-8-3503-7357-8.
Whole-body trajectory optimization
Melya Boukheddimi, Rohit Kumar, Shivesh Kumar, Justin Carpentier, Frank Kirchner
In Biologically Inspired Series-Parallel Hybrid Robots, Elsevier, 1. Auflage, volume 514, chapter 10, pages 213-229, Nov/2024. ISBN: 978-0-323-88482-2.

2023

Investigations into Exploiting the Full Capabilities of a Series-Parallel Hybrid Humanoid using Whole Body Trajectory Optimization
Melya Boukheddimi, Rohit Kumar, Shivesh Kumar, Carpentier Justin, Frank Kirchner
In 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), (IROS-2023), 01.10.-05.10.2023, Detroit, Michigan, IEEE, Oct/2023.

2022

Robot Dance Generation with Music Based Trajectory Optimization
Melya Boukheddimi, Daniel Harnack, Shivesh Kumar, Rohit Kumar, Shubham Vyas, Octavio Arriaga, Frank Kirchner
In IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) 2022, (IROS-2022), IEEE, Nov/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.
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.
Introducing RH5 Manus: A Powerful Humanoid Upper Body Design for Dynamic Movements
Melya Boukheddimi, Shivesh Kumar, Heiner Peters, Dennis Mronga, Rohan Budhiraja, Frank Kirchner
In IEEE International Conference on Robotics and Automation (ICRA), (ICRA-2022), 23.5.-27.5.2022, Philadelphia, IEEE, pages 01-07, 2022. ISBN: 978-1-7281-9681-7.


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last updated 12.01.2024