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Shivesh Kumar

18 accepted papers

2026

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 Faust +15
ICRA 2026poster

In robotics many different approaches ranging from classical planning over optimal control to reinforcement learning (RL) are developed and borrowed from other fields to achieve reliable control in diverse tasks. In order to get a clear understanding of their individual strengths and weaknesses and …

Cited by 0Source ↗PDF ↗Scholar ↗
2025

Adaptive Model-Based Control of Quadrupeds via Online System Identification using Kalman Filter

Jonas Haack, Franek Stark, Shubham Vyas, Frank Kirchner, Shivesh Kumar
IROS 2025

Many real-world applications require legged robots to be able to carry variable payloads. Model-Based controllers such as model predictive control (MPC) have become the de facto standard in research for controlling these systems. However, most model-based control architectures use fixed plant models

Cited by 1Source ↗Scholar ↗
2025

Parallel Transmission Aware Co-Design: Enhancing Manipulator Performance Through Actuation-Space Optimization

Rohit Kumar, Melya Boukheddimi, Dennis Mronga, Shivesh Kumar, Frank Kirchner
IROS 2025

In robotics, structural design and behavior optimization have long been considered separate processes, resulting in the development of systems with limited capabilities. Recently, co-design methods have gained popularity, where bi-level formulations are used to simultaneously optimize the robot desi

Cited by 1Source ↗Scholar ↗
2024

Model Predictive Parkour Control of a Monoped Hopper in Dynamically Changing Environments

Maximilian Albracht, Shivesh Kumar, Shubham Vyas, Frank Kirchner
RA-L 2024

A great advantage of legged robots is their ability to operate on particularly difficult and obstructed terrain, which demands dynamic, robust, and precise movements. The study of obstacle courses provides invaluable insights into the challenges legged robots face, offering a controlled environment

Cited by 4Source ↗code ↗Scholar ↗
2024

Reinforcement Learning for Athletic Intelligence: Lessons from the 1st “AI Olympics with RealAIGym” Competition

Felix Wiebe, Niccolò Turcato, Alberto Dalla Libera, Chi Zhang, Theo Vincent, Shubham Vyas +9
IJCAI 2024poster

As artificial intelligence gains new capabilities, it becomes important to evaluate it on real-world tasks. In particular, the fields of robotics and reinforcement learning (RL) are lacking in standardized benchmarking tasks on real hardware. To facilitate reproducibility and stimulate algorithmi…

Cited by 11Source ↗PDF ↗Scholar ↗
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 2024poster

This paper presents the design, analysis, and performance evaluation of RicMonk, a novel three-link brachiation robot equipped with passive hook-shaped grippers. Brachiation, an agile and energy-efficient mode of locomotion observed in primates, has inspired the development of RicMonk to explore ver…

Cited by 4Source ↗code ↗Scholar ↗
2024

Robust Co-Design of Canonical Underactuated Systems for Increased Certifiable Stability

Federico Girlanda, Lasse Shala, Shivesh Kumar, Frank Kirchner
ICRA 2024poster

Optimal behaviours of a system to perform a specific task can be achieved by leveraging the coupling between trajectory optimization, stabilization, and design optimization. This approach is particularly advantageous for underactuated systems, which are systems that have fewer actuators than degrees…

Cited by 3Source ↗code ↗Scholar ↗
2023

A Recursive Lie-Group Formulation for the Second-Order Time Derivatives of the Inverse Dynamics of Parallel Kinematic Manipulators

Andreas Müller, Shivesh Kumar, Thomas Kordik
RA-L 2023

Series elastic actuators (SEA) were introduced for serial robotic arms. Their model-based trajectory tracking control requires the second time derivatives of the inverse dynamics solution, for which algorithms were proposed. Trajectory control of parallel kinematics manipulators (PKM) equipped with

Cited by 6Source ↗Scholar ↗
2023

AcroMonk: A Minimalist Underactuated Brachiating Robot

Mahdi Javadi, Daniel Harnack, Paula Stocco, Shivesh Kumar, Shubham Vyas, Daniel Pizzutilo +1
RA-L 2023

Brachiation is a dynamic, coordinated swinging maneuver of body and arms used by monkeys and apes to move between branches. As a unique underactuated mode of locomotion, it is interesting to study from a robotics perspective since it can broaden the deployment scenarios for humanoids and animaloids.

Cited by 14Source ↗code ↗Scholar ↗
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 2023poster

Legged locomotion is arguably the most suited and versatile mode to deal with natural or unstructured terrains. Intensive research into dynamic walking and running controllers has recently yielded great advances, both in the optimal control and reinforcement learning (RL) literature. Hopping is a ch…

Cited by 7Source ↗code ↗Scholar ↗
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 2023poster

Trajectory optimization methods have become ubiquitous for the motion planning and control of underactuated robots for e.g., quadrupeds, humanoids etc. While they have been extensively used in the case of serial or tree type robots, they are seldomly used for planning and control of robots with clos…

Cited by 6Source ↗Scholar ↗
2022

Co-optimization of Acrobot Design and Controller for Increased Certifiable Stability

Lasse Jenning Maywald, Felix Wiebe, Shivesh Kumar, Mahdi Javadi, Frank Kirchner
IROS 2022poster

Unlike fully actuated systems, the control of underactuated robots necessitates the use of passive dynamics to fulfill control objectives. Hence, there is an increased interdependence between their design parameters and the closed loop performance. This paper proposes a novel approach for co-optimiz…

Cited by 11Source ↗Scholar ↗
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 2022poster

It is well established that a stiff structure along with an optimal mass distribution are key features to perform dynamic movements, and parallel designs provide these characteristics to a robot. This work presents the new upper-body design of the humanoid robot RH5 named RH5 Manus with series-paral…

Cited by 18Source ↗Scholar ↗
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, Frank Kirchner
IROS 2022poster

Modeling closed loop mechanisms is a necessity for the control and simulation of various systems and poses a great challenge to rigid body dynamics algorithms. Solving the forward and inverse dynamics for such systems require resolution of loop closure constraints which are often solved via numerica…

Cited by 15Source ↗Scholar ↗
2022

Robot Dance Generation with Music Based Trajectory Optimization

Melya Boukheddimi, Daniel Harnack, Shivesh Kumar, Rohit Kumar, Shubham Vyas, Octavio Arriaga +1
IROS 2022poster

Musical dancing is an ubiquitous phenomenon in the human society. Providing robots the ability to dance has the potential to make the human robot co-existence more acceptable in our society. Hence, dancing robots have generated a considerable research interest in the recent years. In this paper, we…

Cited by 6Source ↗Scholar ↗
2019

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 Mueller, Frank Kirchner
IROS 2019poster

It is becoming increasingly popular to use parallel mechanisms as modular subsystem units in the design of various robots for their superior stiffness, payload-to-weight ratio and dynamic properties. This leads to series-parallel hybrid robotic systems which pose several challenges in their modeling…

Cited by 15Source ↗Scholar ↗