Shivesh Kumar

収録論文 25本 ・ フィジカルAI/ロボット学習

※arXiv著者名で収集。同姓同名の別人の論文が含まれる場合があります。

論文

• 脚式ロボットの状態推定のための残差ベース適応カルマンフィルタ
  状態推定2026/8/3

  脚式ロボットの状態推定において、ノイズ共分散行列をオンラインで適応させる手法を提案し、固定パラメータのInEKFと比較して精度が向上することを示した。

• Residual-Based Adaptive Kalman Filtering for Legged Robot State Estimation
  2026/8/1
• Closed Form Time Derivatives of the Equations of Motion of Rigid Body Systems
  2025/7/1
• A Recursive Lie-Group Formulation for the Second-Order Time Derivatives of the Inverse Dynamics of parallel Kinematic Manipulators
  2025/7/1
• Parallel Transmission Aware Co-Design: Enhancing Manipulator Performance Through Actuation-Space Optimization
  2025/7/1
• Adaptive Model-Base Control of Quadrupeds via Online System Identification using Kalman Filter
  2025/6/1
• Reinforcement Learning for Robust Athletic Intelligence: Lessons from the 2nd 'AI Olympics with RealAIGym' Competition
  2025/3/1
• Sitting, Standing and Walking Control of the Series-Parallel Hybrid Recupera-Reha Exoskeleton
  2024/10/1
• Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments
  2024/8/1
• Enhancing Otological Surgery: Co-Designing a Parallel Robot with Surgeon Input
  2024/8/1
• Robust Co-Design of Canonical Underactuated Systems for Increased Certifiable Stability
  2024/3/1
• Kinetostatic Analysis for 6RUS Parallel Continuum Robot using Cosserat Rod Theory
  2024/3/1
• RicMonk: A Three-Link Brachiation Robot with Passive Grippers for Energy-Efficient Brachiation
  2024/3/1
• Deriving Rewards for Reinforcement Learning from Symbolic Behaviour Descriptions of Bipedal Walking
  2023/12/1
• End-to-End Reinforcement Learning for Torque Based Variable Height Hopping
  2023/7/1
• Towards Continuous Time Finite Horizon LQR Control in SE(3)
  2023/7/1
• AcroMonk: A Minimalist Underactuated Brachiating Robot
  2023/5/1
• Analytic Estimation of Region of Attraction of an LQR Controller for Torque Limited Simple Pendulum
  2022/11/1
• An efficient combined local and global search strategy for optimization of parallel kinematic mechanisms with joint limits and collision constraints
  2022/2/1
• Nth Order Analytical Time Derivatives of Inverse Dynamics in Recursive and Closed Forms
  2021/3/1
• Design, analysis and control of the series-parallel hybrid RH5 humanoid robot
  2021/1/1
• A Development Cycle for Automated Self-Exploration of Robot Behaviors
  2020/7/1
• Combinatorics of a Discrete Trajectory Space for Robot Motion Planning
  2020/5/1
• A Comparative Study on 2-DOF Variable Stiffness Mechanisms
  2020/3/1
• Comparison of Distal Teacher Learning with Numerical and Analytical Methods to Solve Inverse Kinematics for Rigid-Body Mechanisms
  2020/3/1