Model-based and experimental analysis of the symmetry in human walking in different device carrying modes. - Shivesh Kumar; Valérie Renaudin; Yannick Aoustin; Eric Le Carpentier; Christophe Combettes (BioRob, 2016)

Integrating Mimic Joints into Dynamics Algorithms: Exemplified by the Hybrid Recupera Exoskeleton. - Shivesh Kumar; Marc Simnofske; Bertold Bongardt; Andreas Müller 002; Frank Kirchner (AIR, 2017)

Kinematic Analysis of a Novel Parallel 2SPRR+1U Ankle Mechanism in Humanoid Robot. - Shivesh Kumar; Abhilash Nayak; Heiner Peters; Christopher Schulz; Andreas Müller 002; Frank Kirchner (ARK, 2018)

Conceptual Design of a Variable Stiffness Mechanism in a Humanoid Ankle Using Parallel Redundant Actuation. - Christoph Stoeffler; Shivesh Kumar; Heiner Peters; Olivier Brüls; Andreas Müller 002; Frank Kirchner (Humanoids, 2018)

Model Simplification For Dynamic Control of Series-Parallel Hybrid Robots - A Representative Study on the Effects of Neglected Dynamics Shivesh. - Shivesh Kumar; Julius Martensen; Andreas Müller 002; Frank Kirchner (IROS, 2019)

A Secure Access Control Model for E-health Cloud. - Ashish Singh; Umesh Chandra; Shivesh Kumar; Kakali Chatterjee (TENCON, 2019)

Design and Kinematic Analysis of the Novel Almost Spherical Parallel Mechanism Active Ankle. - Shivesh Kumar; Bertold Bongardt; Marc Simnofske; Frank Kirchner (J. Intell. Robotic Syst., 2019)

Sensorless full body active compliance in a 6 DOF parallel manipulator. - Anirvan Dutta; Durgesh Haribhau Salunkhe; Shivesh Kumar; Arun Dayal Udai; Suril Vijaykumar Shah (Robotics Comput. Integr. Manuf., 2019)

Modular and Analytical Methods for Solving Kinematics and Dynamics of Series-Parallel Hybrid Robots (Modulare und analytische Verfahren zur Lösung von Kinematik und Dynamik von seriell-parallelen Hybridrobotern) - Shivesh Kumar (2019)

A Comparative Study on 2-DOF Variable Stiffness Mechanisms. - Christoph Stoeffler; Shivesh Kumar; Andreas Müller 002 (ARK, 2020)

Combinatorics of a Discrete Trajectory Space for Robot Motion Planning. - Felix Wiebe; Shivesh Kumar; Daniel Harnack; Malte Langosz; Hendrik Wöhrle; Frank Kirchner (IMAMR, 2020)

Comparison of Distal Teacher Learning with Numerical and Analytical Methods to Solve Inverse Kinematics for Rigid-Body Mechanisms. - Tim von Oehsen; Alexander Fabisch; Shivesh Kumar; Frank Kirchner (CoRR, 2020)

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 (CoRR, 2020)

Design, analysis and control of the series-parallel hybrid RH5 humanoid robot. - Julian Eßer; Shivesh Kumar; Heiner Peters; Vinzenz Bargsten; Jose de Gea Fernandez; Carlos Mastalli; Olivier Stasse; Frank Kirchner (HUMANOIDS, 2021)

Nth Order Analytical Time Derivatives of Inverse Dynamics in Recursive and Closed Forms. - Shivesh Kumar; Andreas Müller 002 (ICRA, 2021)

Kinematic Analysis of a Novel Humanoid Wrist Parallel Mechanism. - Christoph Stoeffler; Adriano del Rio Fernandez; Heiner Peters; Moritz Schilling; Shivesh Kumar (ARK, 2022)

Analytic Estimation of Region of Attraction of an LQR Controller for Torque Limited Simple Pendulum. - Lukas Gross; Lasse Maywald; Shivesh Kumar; Frank Kirchner; Christoph Lüth (CDC, 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 (ICRA, 2022)

Whole-Body Control of Series-Parallel Hybrid Robots. - Dennis Mronga; Shivesh Kumar; Frank Kirchner (ICRA, 2022)

Robot Dance Generation with Music Based Trajectory Optimization. - Melya Boukheddimi; Daniel Harnack; Shivesh Kumar; Rohit Kumar; Shubham Vyas; Octavio Arriaga; Frank Kirchner (IROS, 2022)

Modular and Hybrid Numerical-Analytical Approach - A Case Study on Improving Computational Efficiency for Series-Parallel Hybrid Robots. - Rohit Kumar; Shivesh Kumar; Andreas Müller 002; Frank Kirchner (IROS, 2022)

Co-optimization of Acrobot Design and Controller for Increased Certifiable Stability. - Lasse Jenning Maywald; Felix Wiebe; Shivesh Kumar; Mahdi Javadi; Frank Kirchner (IROS, 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 (CoRR, 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 (J. Open Source Softw., 2022)

Experimental Investigations into Using Motion Capture State Feedback for Real-Time Control of a Humanoid Robot. - Mihaela Popescu; Dennis Mronga; Ivan Bergonzani; Shivesh Kumar; Frank Kirchner (Sensors, 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 (Zenodo, 2022)

Deriving Rewards for Reinforcement Learning from Symbolic Behaviour Descriptions of Bipedal Walking. - Daniel Harnack; Christoph Lüth; Lukas Gross; Shivesh Kumar; Frank Kirchner (CDC, 2023)

Fast Dynamic Walking with RH5 Humanoid Robot. - Ivan Bergonzani; Mihaela Popescu; Shivesh Kumar; Frank Kirchner (Humanoids, 2023)

Investigations into Exploiting the Full Capabilities of a Series-Parallel Hybrid Humanoid Using Whole Body Trajectory Optimization. - Melya Boukheddimi; Rohit Kumar; Shivesh Kumar; Justin Carpentier; Frank Kirchner (IROS, 2023)

End-to-End Reinforcement Learning for Torque Based Variable Height Hopping. - Raghav Soni; Daniel Harnack; Hannah Isermann; Sotaro Fushimi; Shivesh Kumar; Frank Kirchner (IROS, 2023)

A Combined Rigid-Soft Thruster Based on Jetting Propulsion. - Christoph Stoeffler; Adriano Del Río; René Sonntag; Florian Hoffmann; Shivesh Kumar; Frank Kirchner (RoboSoft, 2023)

Towards Continuous Time Finite Horizon LQR Control in SE(3). - Shivesh Kumar; Andreas Mueller 002; Patrick M. Wensing; Frank Kirchner (CoRR, 2023)

AcroMonk: A Minimalist Underactuated Brachiating Robot. - Mahdi Javadi; Daniel Harnack; Paula Stocco; Shivesh Kumar; Shubham Vyas; Daniel Pizzutilo; Frank Kirchner (IEEE Robotics Autom. Lett., 2023)

A Recursive Lie-Group Formulation for the Second-Order Time Derivatives of the Inverse Dynamics of Parallel Kinematic Manipulators. - Andreas Müller 002; Shivesh Kumar; Thomas Kordik (IEEE Robotics Autom. Lett., 2023)

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 (Humanoids, 2024)

Robust Co-Design of Canonical Underactuated Systems for Increased Certifiable Stability. - Federico Girlanda; Lasse Shala; Shivesh Kumar; Frank Kirchner (ICRA, 2024)

Ricmonk: A Three-Link Brachiation Robot with Passive Grippers for Energy-Efficient Brachiation. - Shourie S. Grama; Mahdi Javadi; Shivesh Kumar; Hossein Zamani Boroujeni; Frank Kirchner (ICRA, 2024)

Reinforcement Learning for Athletic Intelligence: Lessons from the 1st "AI Olympics with RealAIGym" Competition. - Felix Wiebe; Niccolò Turcato; Alberto Dalla Libera; Chi Zhang; Théo Vincent; Shubham Vyas; Giulio Giacomuzzo; Ruggero Carli; Diego Romeres; Akhil Sathuluri; Markus Zimmermann; Boris Belousov; et al. (IJCAI, 2024)

Kinetostatic Analysis for 6RUS Parallel Continuum Robot using Cosserat Rod Theory. - Vinayvivian Rodrigues; Bingbin Yu; Christoph Stoeffler; Shivesh Kumar (CoRR, 2024)

Region of Attraction Estimation for Free-Floating Systems under Time-Varying LQR Control. - Lasse Shala; Shubham Vyas; Mohamed Khalil Ben Larbi; Shivesh Kumar; Enrico Stoll (CoRR, 2024)

Enhancing Otological Surgery: Co-Designing a Parallel Robot with Surgeon Input. - Durgesh Haribhau Salunkhe; Guillaume Michel; Shivesh Kumar; Damien Chablat (CoRR, 2024)

Co-designing versatile quadruped robots for dynamic and energy-efficient motions. - Gabriele Fadini; Shivesh Kumar; Rohit Kumar; Thomas Flayols; Andrea Del Prete; Justin Carpentier; Philippe Souères (Robotica, 2024)

Open Source Dual-Purpose Acrobot and Pendubot Platform: Benchmarking Control Algorithms for Underactuated Robotics. - Felix Wiebe; Shivesh Kumar; Lasse J. Shala; Shubham Vyas; Mahdi Javadi; Frank Kirchner (IEEE Robotics Autom. Mag., 2024)

Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments. - Maximilian Albracht; Shivesh Kumar; Shubham Vyas; Frank Kirchner (IEEE Robotics Autom. Lett., 2024)

Reinforcement Learning for Robust Athletic Intelligence: Lessons from the 2nd 'AI Olympics with RealAIGym' Competition. - Felix Wiebe; Niccolò Turcato; Alberto Dalla Libera; Jean Seong Bjorn Choe; BumKyu Choi; Tim Lukas Faust; Habib Maraqten; Erfan Aghadavoodi; Marco Calì; Alberto Sinigaglia; Giulio Giacomuzzo; Diego Romeres; et al. (CoRR, 2025)

Adaptive Model-Base Control of Quadrupeds via Online System Identification using Kalman Filter. - Jonas Haack; Franek Stark; Shubham Vyas; Frank Kirchner; Shivesh Kumar (CoRR, 2025)

Parallel Transmission Aware Co-Design: Enhancing Manipulator Performance Through Actuation-Space Optimization. - Rohit Kumar; Melya Boukheddimi; Dennis Mronga; Shivesh Kumar; Frank Kirchner (CoRR, 2025)

Closed Form Time Derivatives of the Equations of Motion of Rigid Body Systems. - Andreas Mueller; Shivesh Kumar (CoRR, 2025)

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 (CoRR, 2025)