Katja Mombaur — accepted AI-conference papers

2026

Perception of Social Robots As Communication Partners in Healthcare for Older Adults

Hana Yamamoto, Carlotta Julia Mayer, Charlotte Raithel, Theresa Buchner, Christian Werner, Yasuhisa Hirata +2

ICRA 2026poster

Addressing the global caregiver shortage through socially assistive robots necessitates a deep understanding of their psychological and physiological impacts on older adults. This study addresses whether social robots can serve as effective interaction partners compared to humans, and if "positive p…

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2026

Real-Time Sit-To-Stand Phase Classification with a Mobile Assistive Robot from Close Proximity Utilizing 3D Visual Skeleton Recognition

Anas Mahdi, Zonghao Dong, Jonathan Feng-Shun Lin, Yue Hu, Yasuhisa Hirata, Katja Mombaur

ICRA 2026poster

Sit-to-stand (STS) transfer is a fundamental but challenging movement that plays a vital role in older adults’ daily activities. The decline in muscular strength and coordination ability can result in difficulties performing STS and, therefore, the need for mobility assistance by humans or assistive…

Cited by 3 Source ↗Scholar ↗

2021

I3SA: The Increased Step Size Stability Assessment Benchmark and its Application to the Humanoid Robot REEM-C

Felix Aller, Monika Harant, Sebastian Sontag, Matthew Millard, Katja Mombaur

IROS 2021poster

The implementation of stable locomotion on humanoid robots is a difficult task. This is complicated by the fact that there is no uniform method for analyzing a robot and its control architecture and for calculating indicators to quantify performance of flat ground walking. Moreover, there is no wide…

Cited by 3 Source ↗Scholar ↗

2017

Influence of compliance modulation on human locomotion

Yue Hu, Katja Mombaur

ICRA 2017poster

Compliance is an important feature of human locomotion, where many studies have focused on the identification of stiffness parameters in order to build new machines, and stiffness is often assumed to be constant. However, it has been shown that during human walking, stiffness profiles are not consta…

Cited by 6 Source ↗Scholar ↗

2017

Optimal control based push recovery strategy for the iCub humanoid robot with series elastic actuators

Yue Hu, Katja Mombaur

IROS 2017poster

One of the biggest challenges of humanoid robots is to keep the balance at any moment, as they can be subject to different types of external perturbations. Therefore, push recovery is a relevant issue in humanoid robotics, which still represents an open challenge. In literature, the most used method…

Cited by 4 Source ↗Scholar ↗

2016

An Inverse Optimal Control Approach for the Transfer of Human Walking Motions in Constrained Environment to Humanoid Robots

Debora Clever, Katja Mombaur

RSS 2016poster

In this paper we present an inverse optimal control based transfer of motions from human experiments to humanoid robots and apply it to walking in constrained environments. To this end we introduce a 3D template model, which describes motion on the basis of center of mass trajectory, foot trajectori…

Cited by 50 Source ↗PDF ↗Scholar ↗