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SHM 2025
Machine-Learning Based Fault Diagnosis for a Rotordynamic System Using Multibody Simulations.
Pai, Y., Piiroinen, P. T., Kumar, S., Johansson, H. · Structural Health Monitoring 2025
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KUL 2025
Swinging pendulums on the cloud: Digitalization of simulation & experimental infrastructure for feedback-based active learning.
Kumar, S. · Chalmers Konferens om undervisning och larande (KUL2025) · accepted
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QCE 2025
Iterative Linear Quadratic Regulator for Quantum Optimal Control.
Heimann, D., Wiebe, F., Abad, T., Mounzer, E., Huang, T., Kirchner, F., Kumar, S. · 2025 IEEE International Conference on Quantum Computing and Engineering (QCE), 01:1372-1378 · DOI
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IROS 2025
Adaptive model-based control of quadrupeds via online system identification using kalman filter.
Haack, J., Stark, F., Vyas, S., Kirchner, F., Kumar, S. · 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · accepted
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IROS 2025
Parallel transmission aware co-design: Enhancing manipulator performance through actuation-space optimization.
Kumar, R., Boukheddimi, M., Mronga, D., Kumar, S., Kirchner, F. · 2025 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS) · accepted
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ICRA 2024
Robust Co-Design of Canonical Underactuated Systems for Increased Certifiable Stability.
Girlanda, F., Shala, L., Kumar, S., Kirchner, F. · 2024 International Conference on Robotics and Automation (ICRA)
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EuroGNC 2024
Region of attraction estimation for free-floating systems under time-varying lqr control.
Shala, L., Vyas, S., Ben-Larbi, M. K., Kumar, S., Stoll, E. · Proceedings of the 2024 CEAS EuroGNC conference
EuroGNC Best Paper Marc Pelegrin's Award
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IJCAI 2024
Reinforcement learning for athletic intelligence: lessons from the 1st "AI olympics with RealAIGym" competition.
Wiebe, F., Turcato, N., Libera, A. D., Zhang, C., Vincent, T., Vyas, S., Giacomuzzo, G., Carli, R., Romeres, D., Sathuluri, A., Zimmermann, M., Belousov, B., Peters, J., Kirchner, F., Kumar, S. · Proceedings of the Thirty-Third International Joint Conference on Artificial Intelligence · DOI
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Humanoids 2024
Sitting, standing and walking control of the series-parallel hybrid recupera-reha exoskeleton.
Tijjani, I., Kumar, R., Boukheddimi, M., Trampler, M., Kumar, S., Kirchner, F. · 2024 IEEE-RAS 23rd International Conference on Humanoid Robots (Humanoids):113–120
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ICRA 2024
Ricmonk: A three-link brachiation robot with passive grippers for energy-efficient brachiation.
Grama, S. S., Javadi, M., Kumar, S., Zamani Boroujeni, H., Kirchner, F. · 2024 IEEE International Conference on Robotics and Automation (ICRA)
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IROS 2023
Investigations into exploiting the full capabilities of a series-parallel hybrid humanoid using whole body trajectory optimization.
Boukheddimi, M., Kumar, R., Kumar, S., Carpentier, J., Kirchner, F. · 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS):10433–10439
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Humanoids 2023
Fast Dynamic Walking with RH5 Humanoid Robot.
Bergonzani, I., Popescu, M., Kumar, S., Kirchner, F. · 2023 IEEE-RAS 22nd International Conference on Humanoid Robots (Humanoids):1–8
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CDC 2023
Deriving Rewards for Reinforcement Learning from Symbolic Behaviour Descriptions of Bipedal Walking.
Harnack, D., Luth, C., Gross, L., Kumar, S., Kirchner, F. · 62nd IEEE Conference on Decision and Control (CDC):2135 – 2140
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RoboSoft 2023
A Combined Rigid-Soft Thruster Based on Jetting Propulsion.
Stoeffler, C., Del Rio, A., Sonntag, R., Hoffmann, F., Kumar, S., Kirchner, F. · 2023 IEEE International Conference on Soft Robotics (RoboSoft):1-6 · DOI
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IROS 2023
End-to-End Reinforcement Learning for Torque Based Variable Height Hopping.
Soni, R., Harnack, D., Isermann, H., Fushimi, S., Kumar, S., Kirchner, F. · 2023 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS):7531-7538 · DOI
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IROS 2022
Modular and Hybrid Numerical-Analytical Approach - A Case Study on Improving Computational Efficiency for Series-Parallel Hybrid Robots.
Kumar, R., Kumar, S., Müller, A., Kirchner, F. · 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS):3476-3483 · DOI
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ICRA 2022
Whole-Body Control of Series-Parallel Hybrid Robots.
Mronga, D., Kumar, S., Kirchner, F. · 2022 International Conference on Robotics and Automation (ICRA):228–234
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CDC 2022
Analytic Estimation of Region of Attraction of an LQR Controller for Torque Limited Simple Pendulum.
Gross, L., Maywald, L., Kumar, S., Kirchner, F., Luth, C. · 2022 IEEE 61st Conference on Decision and Control (CDC):2695-2701 · DOI
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ICRA 2022
Introducing RH5 Manus: A Powerful Humanoid Upper Body Design for Dynamic Movements.
Boukheddimi, M., Kumar, S., Peters, H., Mronga, D., Budhiraja, R., Kirchner, F. · 2022 IEEE International Conference on Robotics and Automation (ICRA). IEEE International Conference on Robotics and Automation (ICRA), May 23-May 27, Philadelphia, USA:8540-8546
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IROS 2022
Co-optimization of Acrobot Design and Controller for Increased Certifiable Stability.
Maywald, L. J., Wiebe, F., Kumar, S., Javadi, M., Kirchner, F. · 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS):2636–2641
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NAT 2022
Weight perception in exoskeleton supported teleoperation.
Foerster, M., Kim, S., Maurus, M., Kumar, S., Lenggenhager, B., Kirchner, E. A. · The Third Neuroadaptive Technology Conference. Neuroadaptive Technology Conference (NAT-2022), October 9-12, Lübbenau, Germany:59-61
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EuroGNC 2022
Quaternion based LQR for Free-Floating Robots Without Gravity.
Vyas, S., Wehbe, B., Kumar, S. · 6th CEAS Conference on Guidance, Navigation and Control (EuroGNC)
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IROS 2022
Robot Dance Generation with Music Based Trajectory Optimization.
Boukheddimi, M., Harnack, D., Kumar, S., Kumar, R., Vyas, S., Arriaga, O., Kirchner, F. · 2022 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS)
Finalist, Best Entertainment and Amusement Paper Award
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Humanoids 2021
Design, analysis and control of the series-parallel hybrid RH5 humanoid robot.
Esser, J., Kumar, S., Peters, H., Bargsten, V., de Gea Fernandez, J., Mastalli, C., Stasse, O., Kirchner, F. · 2020 IEEE-RAS 20th International Conference on Humanoid Robots (Humanoids):400–407
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ICRA 2021
Nth Order Analytical Time Derivatives of Inverse Dynamics in Recursive and Closed Forms.
Kumar, S., Mueller, A. · 2021 IEEE International Conference on Robotics and Automation (ICRA). IEEE International Conference on Robotics and Automation (ICRA), May 30-June 5, Xi'an, China:1918-1924 (equal first authorship)
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IROS 2019
Model Simplification For Dynamic Control of Series-Parallel Hybrid Robots - A Representative Study on the Effects of Neglected Dynamics.
Kumar, S., Martensen, J., Mueller, A., Kirchner, F. · 2019 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS):5701–5708 · DOI
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IDETC 2019
An Analytical and Modular Software Workbench for Solving Kinematics and Dynamics of Series-Parallel Hybrid Robots.
Kumar, S., Mueller, A. · ASME 2019 International Design Engineering Technical Conferences (IDETC)
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Humanoids 2018
Conceptual Design of a Variable Stiffness Mechanism in a Humanoid Ankle Using Parallel Redundant Actuation.
Stoeffler, C., Kumar, S., Peters, H., Bruls, O., Muller, A., Kirchner, F. · 2018 IEEE-RAS 18th International Conference on Humanoid Robots (Humanoids):462–468 · DOI
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ACM 2017
Integrating mimic joints into dynamics algorithms: Exemplified by the hybrid recupera exoskeleton.
· ACM International Conference Proceeding Series, Part F1320 · DOI
2nd Prize in Best Oral Presentations
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Mechatronics 2016
Model-based and experimental analysis of the symmetry in human walking in different device carrying modes.
Kumar, S., Renaudin, V., Aoustin, Y., Le-Carpentier, E., Combettes, C. · Proceedings of the IEEE RAS and EMBS International Conference on Biomedical Robotics and Biomechatronics, 2016-July · DOI
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ISR 2016
Active ankle -- An almost-spherical parallel mechanism.
Simnofske, M., Kumar, S., Bongardt, B., Kirchner, F. · 47th International Symposium on Robotics, ISR 2016
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Conf. 2016
Recupera-reha: Exoskeleton technology with integrated biosignal analysis for sensorimotor rehabilitation.
Kirchner, E. A., Will, N., Simnofske, M., Vaca Benitez, L. M., Bongardt, B., Krell, M. M., Kumar, S., Mallwitz, M., Seeland, A., Tabie, M., others · 2. Transdisziplinare Konferenz ``Technische Unterstutzungssysteme, die die Menschen wirklich wollen'':504–517
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ASTRA 2013
Design, simulation and testing of shrimp rover using recurdyn.
Kumar, S., Raghavendra, S., Bhagat, M., Gangadharan, K. · 12th Symposium on Advanced Space Technologies in Automation and Robotics
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ACMD 2012
Realistic modeling and dynamic simulation of kuka kr5 robot using recurdyn.
Kumar, S., Rajeevlochana, C., Saha, S. K. · 6th Asian Conference on Multi-Body Dynamics
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MSD 2012
Automatic extraction of dh parameters of serial manipulators using line geometry.
Rajeevlochana, C., Saha, S. K., Kumar, S. · The 2nd International Conference on Multibody System Dynamics