Publications

Books

  1. K. Mombaur, K. Berns (editors) – Modeling, Simulation and Optimization of Bipedal Walking, COSMOS (Cognitive Systems Monographs), Springer, No. 18, 2013
  2. M. Diehl, K. D. Mombaur (editors) – Fast Motions in Robotics and Biomechanics – Optimization & Feedback Control, Lecture Notes in Control and Information Science, Springer, Vol. 341, Sept. 2006
  3. K. D. Mombaur – Stability Optimization of Open-loop Controlled Walking Robots. Dissertation, Universität Heidelberg, 2001. VDI Fortschritt-Bericht, Reihe 8, Nr. 922. Also published online at http://www.ub.uni-heidelberg.de/archiv/1796.
  4. Part editor of Springer Handbook of Humanoid Robotics,  (w. Eiichi Yoshida)

Journals

  1. Lizeth H. Sloot, Matthew Millard, Christian Werner, Katja Mombaur: Slow but steady: similar sit-to-stand balance at seat-off in older versus younger adults, Frontiers in Sports and Active Living, section Biomechanics and Control of Human Movement, Research topic Balance and Ageing, Vol 2, Oct 2020
  2. David Pinto-Fernandez, Diego Torricelli, Maria del Carmen Sanchez-Villamanan, Felix Aller, Katja Mombaur, Roberto Conti, Nicola Vitiello, Juan C. Moreno, and Jose Luis Pons – Performance Evaluation of Lower Limb Exoskeletons: A Systematic Review. IEEE Transactions on Neural Systems & Neurorehabilitation Engineering, 28(7), July 2020
  3. Kevin Stein, Katja Mombaur – Whole-Body Dynamic Analysis of Challenging Slackline Jumping, Applied Science, 10, Feb 2020
  4. Hannah Schleihauf, Stephanie Hoehl, Neli Tsvetkova , Alexander König, Katja Mombaur, Sabina Pauen, – Preschoolers’ motivation to over-imitate humans and robots, Child Development, accepted Dec 2019, appeared Aug 2020
  5. Felix Aller, David Pinto Fernandez, Diego Torricelli, Jose Luis Pons, Katja Mombaur – State of the
    Art of Assessment Metrics for Humanoid Robot Locomotion, IEEE Robotics and Automation Letters (RA-L) with Humanoids Conference option, 2019 
  6. Matthew Millard, Katja Mombaur – A quick turn of foot: rigid foot-ground contact models for human motion prediction“, Frontiers in Neurorobotics, 2019
  7. Silvan Lindner, Christoph Garbe, Katja Mombaur – Optimization Based Multi-View Coverage Path Planning for Autonomous Structure from Motion Recordings, IEEE Robotics and Automation Letters, 2019
  8. Anna Lena Emonds and Katja Mombaur – Optimality studies of human sprinting motions with and without prostheses, International Journal of Humanoids Robotics, 16(1), 2019
  9. Anna Lena Emonds, Johannes Funken, Wolfgang Potthast and Katja Mombaur – Comparison of Sprinting With and Without Running-Specific Prostheses Using Optimal Control Techniques, Robotica, 37(12), 1-19 , 2019
  10. M. Millard, A. L. Emonds,  M. Harant, K. Mombaur – A reduced muscle model and planar musculoskeletal model fit for the simulation of whole-body movements, Journal of Biomechanics,
    89:11-20, 2019
  11. K. L. Ho Hoang, S. Wolf, K. Mombaur – Benchmarking Stability of Bipedal Locomotions Based on Individual Full Body Dynamics and Foot Placement Strategies – Application to  Impaired and Unimpaired Walking, Front. Robot. AI, Oct 2018
  12. M. Sreenivasa, M. Millard, I. Kingma, J. v, Dieen, K. Mombaur – Predicting the influence of hip and lumbar flexibility on lifting motions using optimal control, Journal of Biomechanics, 78, 2018, 118 – 125
  13. D. Clever, Y. Hu, K. Mombaur – Humanoid gait generation in complex environments based on template models and optimality principles learned from human beings, International Journal of Robotics Research, 2018, published online May 2018
  14. Y. Hu, K Mombaur – Bio-Inspired Optimal Control Framework to Generate Walking Motions for the Humanoid Robot iCub Using Whole Body Models, Appl. Sci., 8(2), 278, Feb 2018
  15. R. M. Kopitzsch, D. Clever and K. Mombaur – Optimal spring-damper systems to support push recovery motions during walking of humans wearing lower-limb exoskeletons, Journal of Advanced Robotics, 2017,  31(22), 1238-1252
  16. M Sreenivasa, M Millard, P Manns, K Mombaur – Optimizing Wearable Assistive Devices with Neuromuscular Models and Optimal Control,  Converging Clinical and Engineering Research on Neurorehabilitation II, 627-632, 2017
  17. M. Millard, M. Sreenivasa, and K. Mombaur,  Predicting the motions and forces of wearable robotic systems using optimal control, Frontiers in Robotics and AI, 4 (41), 2017
  18. K. Mombaur, K.-L. Ho Hoang. – How to best support sit to stand transfers of geriatric patients: Motion optimization under external forces for the design of physical assistive devices, J. Biomechanics, 2017, 58, 131 – 138 
  19. P. Manns, M. Sreenivasa, M. Millard and K. Mombaur, „Motion optimization and parameter identification for a human and lower-back exoskeleton model“, IEEE Robotics and Automation Letters (RA-L), 2(3), 1564-1570, 2017. 
  20. I. Koryakovskiy, M. Kudruss, R. Babuška, W. Caarls, C. Kirches, K. Mombaur, J. P. Schlöder, H. Vallery: Benchmarking model-free and model-based optimal control , Robots and Autonomous Systems, vol. 92, no. , 81 – 90, 2017
  21. D. Clever, M. Harant, K. Mombaur, M. Naveau, O. Stasse, and D. Endres: COCoMoPL: A Novel Approach for Humanoid Walking Generation Combining Optimal Control, Movement Primitives and Learning, Robotics and Automation Letters, Vol 2(2), April 2017
  22. M. Sreenivasa, M. Millard, M. Felis, K. Mombaur, S. I. Wolf,  Optimal control based stiffness identification of an ankle-foot orthosis using a predictive walking model, Frontiers in Computational Neuroscience, 11, April 2017
  23. D. Clever, M. Harant, K. H. Koch, K. Mombaur and D. M. Endres – A novel approach for the generation of complex humanoid walking sequences based on a combination of optimal control and learning of movement primitives, Elsevier, Robotics and Autonomous Systems, vol. 83, 287-298, Sep, 2016 
  24. M. Naveau, M. Kudruss, O. Stasse, C. Kirches, K. Mombaur and P. Souères – A Reactive Walking Pattern Generator Based on Nonlinear Model Predictive Control, , IEEE Robotics and Automation Letters, vol. 2, no. 1, 10-27, Jan, 2017 
  25. D. Kulic, G. Venture, K. Yamane, E. Demircan, I. Mizuuchi and K. Mombaur – Movement Science for humans and humanoids: A survey of methods and applications, IEEE Transactions on Robotics, 32(4), 2016 
  26. K.-L. Ho Hoang and K. Mombaur, Adjustments to de Leva-Anthropometric Regression Data for the Changes in Body Proportions in Elderly Humans, Journal of Biomechanics, 48 (3), 2015
  27. Diego Torricelli, Jose Eduardo Gonzalez Vargas, Jan Veneman, Katja Mombaur, Nikos Tsagarakis, Antonio J. del-Ama, Angel Gil-Agudo, Juan Camilo Moreno, Jose Luis Pons: Benchmarking bipedal locomotion in humanoids, wearable robots and humans: a unified scheme,  IEEE Robotics and Automation Magazine, 2015
  28. M. Benoussad, B. Sijobert, K. Mombaur and C. Azevedo – Robust Foot Clearance Estimation Based on the Integration of Foot-Mounted IMU Acceleration Data, Sensors, vol. 16, no. 1, 2015
  29. M. Sreenivasa, K. Mombaur, J.-P. Laumond: Walking paths to and from a goal differ: On the role of bearing angle in the formation of human locomotion paths, PLOS ONE, 10(4), 2015
  30. K. Mombaur, A. Kheddar, K. Harada, T. Buschmann and C. Atkeson – TC Spotlight: Model-based Optimization for Robotics, IEEE Robotics and Automation Magazine, Sept. 2014 
  31. K. Mombaur, H. Koch, M. Felis:  Model-based optimization for robotics, Journal of the Robotics Society of Japan, Special Issue on „Optimization used in Robotics Research“ (eds: Kensuke Harada and Yuichi Tazaki) vol. 32, no. 6, July 2014.
  32. M. Felis, K. Mombaur, H. Kadone, A. Berthoz:  Modeling and identification of emotional aspects of locomotion, Journal of Computational Science, Vol. 4, No. 4, 2013
  33. K. Mombaur: Synergies between humanoid robotics and biomechanics for motion generation, Computer Methods in Biomechanics and Biomedical Engineering, Volume 15, No. 1, published online Sept 2012
  34. K. Hatz, K. Mombaur, J. M. Donelan: Control of Ankle Extensor Muscle Activity in Walking Cats, Journal of Neurophysiology, published online Aug 2012
  35. J. Koschorreck, K. Mombaur: Modeling and Optimal Control of Human Platform Diving With Somersaults and Twists, Optimization & Engineering, Springer, Volume 12, No. 4, Dec. 2011, published online Oct. 2011
  36. K. Mombaur, T. Stein; Numerical Optimization as a Tool for Sports Science, Science et Motricité, Volume 75, 7 – 18, 2011
  37. M. Raschke, K. Mombaur, A. Schubert: An optimization-based robot platform for the generation of action paintings, International Journal of Arts and Technology, Volume 4, Issue 2, pp. 181 – 195, 2011
  38. K. Mombaur, A. Truong, J.-P. Laumond: From Human to Humanoid Locomotion – An inverse optimal control approach, Autonomous Robots, Volume 28, Number 3 / April 2010 , published online Dec. 2009
  39. A. Herdt, H. Diedam, P.B. Wieber, D. Dimitrov, K. Mombaur, M. Diehl: Online walking motion generation with automatic foot step placement., Advanced Robotics, 24, 5-6, pp. 719-737, 2010
  40. R. W. Longman and K. D. Mombaur, “Iterative Learning Control in Nonlinear Systems using State Estimation for Relinearization,” Advances in the Astronautical Sciences, Vol. 134, 2009, pp. 1721-1735.
  41. G. Schultz, K. Mombaur: Modeling and Optimal Control of Human-Like Running, IEEE/ASME Transactions on Mechatronics, Volume 15., No. 5, 2010, published online 2009.  
  42. K. Mombaur, J.P. Laumond, E. Yoshida: An Optimal Control Based Formulation to Determine Natural Locomotor Paths for Humanoid Robots, Advanced Robotics, Vol. 24, No. 4, March 2010
  43. K. Mombaur, M. Scheint, M. Sobotka: Optimal Control and Design of Legged Robots With Compliance, at – Automatisierungstechnik, Vol. 57, No. 7, July 2009
  44. M. Diehl, K. Mombaur, D. Noll: Stability Optimization of Hybrid Periodic Systems via a Smooth Criterion, IEEE Transactions on Automatic Control, Vol. 54, No. 8, Aug. 2009
  45. K. Mombaur, A. Truong, J.P. Laumond : Identifying the objectives of human path generation, Computer Methods in Biomechanics and Biomedical Eng., Vol. 12, No. 2-1, 2009
  46. J. Koschorreck, K. Mombaur: Optimization of Somersaults and Twists in Platform Diving, Computer Methods in Biomechanics and Biomedical Engineering, Vol. 12, No. 2-1, 2009
  47. L. Hoyet, F. Multon, K. Mombaur, E. Yoshida: Balance in dynamic situations: Role of the underlying model, Computer Methods in Biomechanics and Biomedical Engineering, Vol. 12, No. 2-1, 2009
  48. K. Mombaur, Using optimization to create self-stable human-like running, Robotica, Vol. 27, 2009, p. 321-330, published online June 2008
  49. K. D. Mombaur , H.G.Bock,  J. P. Schlöder and R. W. Longman – Self-stabilizing somersaults, IEEE Transactions on Robotics, Vol. 21, No.6 , Dec. 2005
  50. K. D. Mombaur, H. G. Bock, J. P. Schlöder, and R. W. Longman – Open-loop stable solution of periodic optimal control problems, ZAMM (Journal of Applied Mathematics and Mechanics), Vol. 85, No. 7, July 2005
  51. K. D. Mombaur, R. W. Longman, H. G. Bock, and J. P. Schlöder – Open-loop stable running, Vol. 23, No. 1, Robotica, 2005
  52. M. J. Coleman, M. Garcia, K. D. Mombaur, and A. Ruina, Prediction of stable walking for a toy that cannot stand. Physical Review E, 2001.

Book chapters

  1. K. Mombaur, D. Corradi, K.-L. Ho-Hoang, A. Schubert – Assistenzroboter für eine Steigerung der Mobilität im Alter,  Perspektiven der Mobilität, Heidelberger Jahrbücher Online (editors J. Funke, M. Wink), 3, Heidelberg University Publishing (heiUP), 2018
  2. K. Mombaur –  Humanoid Motion Optimization, Humanoid Robotics – A Reference (editors: A. Goswami and P. Vadakkepat), Springer, 1805 – 1842, Oct 2018 
  3. K. Mombaur, E. Yoshida –  Humanoid Motion Planning, Optimization, and Gait Generation: Open Questions and Future Directions, Humanoid Robotics – A Reference (editors: A. Goswami and P. Vadakkepat), Springer, 1843-1847, Oct 2018
  4. E. Yoshida, K. Mombaur –  Introduction: Motion Planning, Optimization, Humanoid Robotics – A Reference, Springer (editors: A. Goswami and P. Vadakkepat), 1571-1574, Oct 2018 
  5. M. Sreenivasa, J. P. Laumond, K. Mombaur and Berthoz A. – Principles underlying locomotor trajectory formation, Humanoid Robotics – A Reference (editors: A. Goswami and P. Vadakkepat), Springer, 1679- 1695, Oct 2018
  6. K. Mombaur – Optimization as guiding principle of locomotion, Bio-inspired legged locomotion – Models, concepts, control and application, (editors: M. Sharbafi and A. Seyfarth), Elsevier, 2017
  7. K. Mombaur, H. Vallery – Stability and robustness of bipedal walking, in Bio-inspired legged locomotion – Models, concepts, control and applications, Elsevier, (editors: M. Sharbafi and A. Seyfarth) , 2017
  8. K. Mombaur, Y. Hu, J. Buchli –Compliance and efficiency in bipedal walking, in Bio-inspired legged locomotion – Models, concepts, control and application, Elsevier,  (editors: M. Sharbafi and A. Seyfarth) , 2017
  9. K. Mombaur, H. Vallery, Y. Hu, J. Buchli, P. Bhounsule, T. Boaventura, P. M. Wensing, S. Revzen, A. D. Ames, I. Poulakakis, and A. Ijspeert:  Control of Motion and Compliance – Introduction, Bio-inspired legged locomotion – Models, concepts, control and application, (editors: M. Sharbafi and A. Seyfarth) , Elsevier, 2017
  10. K. Mombaur – Wie viel Intelligenz steckt in der Mechanik unseres Körpers? Passiv-dynamische Roboter, menschliche Bewegungsstudien, mathematsche Modelle und Kleists Marionettentheater, in Verkörperung. Eine neue interdisziplinäre Anthropologie, de Gruyther, 2017
  11. K. Mombaur, D. Clever – Inverse optimal control as a tool to understand human movement, in Geometric and Numerical Foundations of Movements,  (editors: J.-P. Laumond, N. Mansard, J.-B. Lasserre),  STAR Series,  Springer,  2017
  12. K. Mombaur, K.-L. Ho Hoang:  Rollator 2.0 – der optimale Mobilitätsassistent ist ein Roboter, 100! Was die Wissenschaft über das Altern weiß., Baden-Württemberg-Stiftung, Hirzel, 2016
  13. K. Mombaur – Optimal Control for Applications in Medical and Rehabilitation Technology – Challenges and Solutions, in: Advances in Mathematical Modeling, Optimization and Optimal Control, editors J.B. Hirriart-Urruty, A. Koryotowski, H. Maurer, M. Szymkat, Springer, 2016
  14. D. Clever and K. Mombaur – On the Relevance of Common Humanoid Gait Generation Strategies in Human Locomotion – An Inverse Optimal Control Approach, (editors: H.G. Bock, X.P. Hoang, R. Rannacher and J. P. Schlöder) in Modeling, Simulation and Optimization of Complex Processes, HPSC 2015, Lecture Notes in Scientific Computing, Springer, 2017 
  15. Babič, J., Mombaur, K., Lefeber, D., van Dieën, J., Graimann, B., Russold, M., Houdijk, H. – SPEXOR: Spinal exoskeletal robot for low back pain prevention and vocational reintegration. In Biosystems and Biorobotics, Vol. 16, pp. 311-315. Springer International Publishing
  16. K.-L. Ho Hoang, K. Mombaur, S. Wolf: Investigating Capturability in Dynamic Human Locomotion using Multi-body Dynamics and Optimal Control, in Modeling, Simulation and Optimization of Complex Processes (editors: H.G. Bock, X.P. Hoang, R. Rannacher and J. P. Schlöder) , HPSC 2012, Lecture Notes  in Scientific Computing, 83-93, Springer, 2014
  17. A. Schubert, K. Mombaur, J. Funke: Mathematical Models of Perception and Generation of Art Works by Dynamic Motions, in Modeling, Simulation and Optimization of Complex Processes (editors: H.G. Bock, X.P. Hoang, R. Rannacher and J. P. Schlöder) , HPSC 2012, Lecture Notes  in Scientific Computing, 207-219, Springer, 2014
  18. K. Mombaur: A mathematical study of Sprinting on Artifical Legs, in Modeling, Simulation and Optimization of Complex Processes (editors: H.G. Bock, X.P. Hoang, R. Rannacher and J. P. Schlöder) , HPSC 2012, Lecture Notes  in Scientific Computing: 157-168, Springer, 2014
  19. M. Felis, K. Mombaur, A. Berthoz: Mathematical Modeling of Emotional Body Language during Human Walking, in Modeling, Simulation and Optimization of Complex Processes (editors: H.G. Bock, X.P. Hoang, R. Rannacher and J. P. Schlöder) , HPSC 2012, Lecture Notes  in Scientific Computing, 25-35, Springer, 2014
  20. S-E. Fotinea, E.Efthimiou, A-L. Dimou, T. Goulas, P. Karioris, A. Peer, P. Maragos, C. Tzafestas, I. Kokkinos, K. Hauer, K. Mombaur, I. Koumpouros, B. Stanzyk, Data Acquisition towards defining a Multimodal Interaction Model for Human-Assistive Robot Communication, Universal Access in Human-Computer Interaction. Aging and Assistive Environments, Leture Notes in Computer Science, Springer, 2014
  21. M. Felis, K. Mombaur: Using Optimal Control Methods to Generate Human Walking Motions, Motion in Games 2012, Lecture Notes in Computer Science, Vol. 7660, Springer, 2012
  22. K. Mombaur, A.H. Olivier, A. Crétual: Forward and Inverse Optimal control of Human Running, in Modeling, Simulation and Optimization of Bipedal Walking, Springer COSMOS, Vol. 18, 2013
  23. R. Héliot, K. Mombaur, and C. Azevedo-Coste: Coupling CPG and optimization to generate muscle activation for drop-foot correction online, in Modeling, Simulation and Optimization of Bipedal Walking, Springer COSMOS, Vol. 18, 2013
  24. M. Felis, K. Mombaur: Modeling and optimization of human walking, in Modeling, Simulation and Optimization of Bipedal Walking, Springer COSMOS, Vol. 18, 2013
  25. K. Mombaur: Human-Like Running Can Be Open-Loop Stable. in K. Berns, T. Luksch (eds.): Autonome Mobile Systeme 2007, Springer Series “Informatik Aktuell”
  26. M. Raschke. K. Mombaur, A. Schubert : JacksonBot – Design, Simulation and Optimal Control of an Action Painting Robot, ArtsIT 2009, YiLan, Taiwan, Sept. 2009, Lecture Notes of the Institute for Computer Sciences, Social Informatics and Telecommunications Engineering, Springer, Best Conference Paper Award.  
  27. K. D. Mombaur, P. Giesl, H. Wagner – Stability Optimization of Juggling, , in H. G. Bock, E. Kostina, H. X. Phu and R. Rannacher (eds.): “Modeling, Simulation and Optimization of Complex Processes”, Lecture Notes in Scientific Computing, Springer, 2008
  28. K. D. Mombaur, R. W. Longman, H. G. Bock, and J. P. Schlöder – Optimizing Spring-Damper Design in Human-like Walking that is Asymptotically Stable Without Feedback, in H. G. Bock, E. Kostina, H. X. Phu and R. Rannacher (eds.): “Modeling, Simulation and Optimization of Complex Processes”, Lecture Notes in Scientific Computing, Springer, 2008
  29. R. W. Longman, K. D. Mombaur – Investigating the Use of Iterative Learning Control and Repetitive Control to Implement Periodic Gaits , Lecture Notes in Control and Information Science, Springer, 2006
  30. K. D. Mombaur  – Performing Open-loop Stable Flip-Flops – An Example for Stability Optimization and Robustness Analysis of Fast Periodic Motions, Lecture Notes in Control and Information Science , Springer, 2006

Conference proceedings

  1. Kevin Stein, Katja Mombaur: Optimal Control Based Analysis of Challenging Slackline Jumping, European College of Sports Science (ECSS), 2020, Virtual event 
  2. Giorgos Marinou, Katja Mombaur: Optimizing active spinal exoskeletons to minimize low back loads, WeRob WeRob, International Symposium on Wearable Robotics (WeRob) 2020, Virtual event
  3. Lizeth Sloot, Matthew Millard, Christian Werner and Katja Mombaur: Effect of rollator assistance on sit-to-stand balance in older adults, International Conference on Neurorehabilitation (ICNR) 2020, Virtual event
  4. Matthew Millard, Katja Mombaur: Sit-to-stand models of older adults should include muscle nonlinearities and arms, International Conference on Neurorehabilitation (ICNR) 2020, Virtual event
  5. Giorgos Marinou, Katja Mombaur: Predicting exoskeleton support torques based on human lifting motions using optimal control, TAR 2020 – Technically Assisted Rehabilitation, Virtual event
  6. Lizeth H Sloot, Suzanne Malheiros, Steven Truijen, Wim Saeys, Katja Mombaur, Ann Hallemans, Tamaya van Crinkinge: Walk this way: elderly walk like the young, just more slowly, Conf of the European society for Movement analysis in Adults and Children, ESMAC 2020, Best Paper Award
  7. Monika Harant, Matthew Millard, Nejc Sarabon and Katja Mombaur – Objective function evaluation for optimizing design and actuation of an active exoskeleton to ergonomically assist lifting motions, IEEE-RAS International Conference on Humanoid Robots (IEEE Humanoids), Toronto, 2019 
  8. Kevin Stein and Katja Mombaur, Performance indicators for stability of slackline balancing, IEEE-RAS International Conference on Humanoid Robots (IEEE Humanoids), Toronto, 2019 
  9. Monika Harant, Manish Sreenivasa, Matthew Millard, Nejc Sarabon and Katja Mombaur –  Optimizing Design Characteristics of Passive and Active Spinal Exoskeletons for Challenging Working Tasks, International Symposium on Wearable Robotics (WeRob) 2018, Pisa
  10. Jan Babic, Idsart Kingma, Jonas Bornmann, Katja Mombaur, Matthias Näf, Tadej Petric, Han Houdijk, Jose Gonzalez-Vargas, Saskia Baltrusch, Nejc Sarabon – SPEXOR: Design and development of passive spinal exoskeletal robot for low back pain prevention and vocational reintegration, International Symposium on Wearable Robotics (WeRob) 2018, Pisa
  11. A.L. Edmonds and K. Mombaur – Inverse Optimal Control Based Enhancement of Sprinting Motion Synthesis With and Without Running-Specific Prostheses, IEEE-RAS/EMBS International Conference on Biomedical Robots and Biomechatronics (BioRob 2018), August, 2018
  12. K. Stein and K. Mombaur – Optimization-based analysis of a cartwheel, IEEE RAS/EMBS International Conference on Biomedical Robots and Biomechatronics (BioRob 2018), August, 2018
  13. K. Stein and K. Mombaur – Center of pressure and joint torque estimation for single legl slack line balancing using model-based optimization, Conference of the International Society of Biomechanics in Sports (ISBS 2018), September 2018
  14. A. L. Kleesattel, W. Potthast and K. Mombaur – Towards a Better Understanding of Human Sprinting Motions With and Without Prostheses, IEEE-RAS International Conference on Humanoid Robots (IEEE Humanoids 2017), 158-164, November, 2017
  15. M. Harant, M. Sreenivasa, M. Millard, N. Sarabon and K. Mombaur – Parameter optimization for passive spinal exoskeletons based on experimental data and optimal control, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2017), 2017
  16. K. Stein, Y. Hu, M. Kudruss, M. Naveau and K. Mombaur – Closed loop control of walking motions with adaptive choice of directions for the iCub humanoid robot, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2017), November, 2017
  17. Yue Hu and Katja Mombaur, Optimal Control Based Push Recovery Strategy for the Icub Humanoid Robot with Series Elastic Actuators, IROS 2017, Vancouver, Oct 2017
  18. Paul Manns, Katja Mombaur, Towards Discrete Mechanics and Optimal Control for Complex Models, IFAC World Congress, Toulouse, July, 2017
  19. Malin Kopitzsch and Katja Mombaur – Using spring-damper elements to support human-likepush recovery motions, RAAD conference 2017, Torino, June 2017
  20. A.L. Kleesattel, D. Clever, J. Funken, W. Potthast and K. Mombaur – Modeling and Optimal Control of Able-Bodied and Unilateral Amputee Running, Proceedings of 35th International Society of Biomechanics in Sports (ISBS), June, 2017
  21. Hu, Y. and Mombaur, K. , Influence of compliance modulation on human locomotion, IEEE International Conference on Robotics and Automation (ICRA 2017)
  22. M. Millard, M. Sreenivasa, P. Manns and K. Mombaur, „Predicting human lifting motions using optimal control“, 6th European Conference on Technically Assisted Rehabilitation, Berlin, Germany, March 2017
  23. M. Schemschat, D. Clever and K. Mombaur – Optimization based analysis of push recovery during walking motions to support the design of lower-limb exoskeletons, IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SimPar 2016), Dec, 2016, Shortlist for best paper award.  
  24. Hu, Y. and Eljaik, J. and Stein, K. and Nori, F. and Mombaur, K., Walking of the iCub humanoid robot in different scenarios: implementation and performance analysis, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2016)
  25. R.M Schemschat, D. Clever, M. Millard, K. Mombaur, „Model-based optimization for the design of exoskeletons that help humans to sustain large pushes while walking“, ICNR, Segovia, Oct 2016.
  26. K. Mombaur, D. Clever and A. Schubert – Benchmarking data for human walking in different scenarios, Springer, International Symposium on Wearable Robotics, , 231-234, 2017 
  27. K. Mombaur, C. J. Gonzalez and M. L. Felis – Towards a Better Understanding of Stability in Human Walking Using Model-Based Optimal Control and Experimental Data, International Conference on Neurorehabilitation (ICNR 2016), Oct, 2016 
  28. B. Reh, F. Aller and K. Mombaur – A New Continuous Model for Segregation Implemented and Analyzed on Swarm Robots,  Swarm Intelligence: 10th International Conference, ANTS 2016, Brussels, Belgium, Springer,  2016
  29. B. Reh and K. Mombaur – Motion Reconstruction of Swarm-Like Self-organized Motor Bike Traffic from Public Videos, Swarm Intelligence: 10th International Conference, ANTS 2016, Brussels, Belgium, Springer,  2016
  30. D. Clever and K. Mombaur- An Inverse Optimal Control Approach for the Transfer of Human Walking Motions in Constrained Environment to Humanoid Robots, Robotics Science and Systems, June 2016.
  31. M. Horn, B. Reh, F. Wenz, J. Stallkamp, K. Mombaur, “Patient specific corotated FEM simulation and gelatin phantom for prostate brachytherapy”, 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), June 2016.
  32. D. Corradi, K.L. Ho Hoang, K. Mombaur: Optimal control for balance assistance using a robotic rollator,  6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), June 2016.
  33. Clever, D. and Schemschat, R.M. and Felis, M.L. and Mombaur, K., Inverse optimal control based identification of optimality criteria in whole-body human walking on level ground, IEEE/RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2016)
  34. M. Schemschat, D. Clever, M.L. Felis, E. Chiovetto, M.A. Giese and K. Mombaur – Joint Torque Analysis of Push Recovery Motions during Human Walking, IEEE/RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2016), 133-139, Jun, 2016 
  35. Hu, Y. and Nori, F. and Mombaur, K. – Squat Motion Generation for the Humanoid Robot iCub with Series Elastic Actuators, IEEE/RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2016)
  36. Felis, M. L. and Mombaur, K., Synthesis of Full-Body 3-D Human Gait using Optimal Control Methods, IEEE International Conference on Robotics and Automation (ICRA 2016)
  37. M. Schemschat, D. Clever, M. L. Felis and K. Mombaur – Optimal Push Recovery for Periodic Walking Motions, Elsevier, IFAC International Workshop on Periodic Control Systems (PSYCO 2016), vol. 49, no. 14, 93-98, Jun, 2016 
  38. Y. Hu, K. Mombaur: Analysis of human leg joints compliance in different walking scenarios with an optimal control approach, IFAC International Workshop on Periodic Control Systems (PSYCO 2016)
  39. M. L. Felis, K. Mombaur and A. Berthoz – An optimal control approach to reconstruct human gait dynamics from kinematic data, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2015), 1044-1051, November, 2015 
  40. K. H. Koch, D. Clever, K. Mombaur and D. M. Endres – Learning Movement Primitives from Optimal and Dynamically Feasible Trajectories for Humanoid Walking, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2015), 866-873, 2015 
  41. M. Kudruss, M. Naveau, O. Stasse, N. Mansard, C. Kirches, P. Souères and K. Mombaur – Optimal Control for Whole-Body Motion Generation using Center-of-Mass Dynamics for Predefined Multi-Contact Configurations, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2015), November, 2015 
  42. K. H. Koch, K. Mombaur: ExoOpt – a framework for patient centered design optimization of lower limb exoskelerons, IEEE International Conference on Rehabilitation Robotics 2015, Singapore
  43. K.-L. Ho Hoang, D. Corradi, S. Delbasteh, K. Mombaur, Gait Performance Indicators for Elderly Humans interacting with Robotic Mobiliity Assistance Devices, IEEE International Conference on Rehabilitation Robotics 2015, Singapore
  44. K. Mombaur, Optimal prostheses, orthoses and exoskeletons for physical activity, ISBS Conference, July 2015, Poitiers, France
  45. K.-L. Ho Hoang, K. Mombaur: Optimal Design of a Physical Assistive Device to Support Sit-to-Stand Motions, Proceedings of the 2015 IEEE International Conference on Robotics and Automation, May 26 – 30, 2015, Seattle, WA, USA
  46. D. Clever, K. Mombaur: A new template model for optimization studies of human walking on different terrains, IEEE Humanoids 2014. Madrid.
  47. K. H. Koch, K. Mombaur, P.  Soueres, O. Stasse: Optimization based exploitation of the ankle elasticity of HRP-2 for overstepping large obstacles, IEEE Humanoids 2014, Madrid.
  48. Y. Hu, M. L. Felis, K. Mombaur: Compliance analysis of human leg joints in level ground walking with an optimal control approach, IEEE Humanoids 2014, Madrid.
  49. M. Horn, M. Sreenivasa, K. Mombaur : Optimization model of the predictive head direction for humanoid robots, IEEE Humanoids 2014, Madrid.
  50. K. H. Koch, K. Mombaur: ExoOpt – a tool for evaluating exoskeleton designs using model-based optimization, Int’l Workshop for Wearable Robots, Baiona, Spain, 2014. 
  51. A. Schubert, D. Clever, K. Mombaur: Key performance indicators for humanoid walking motions defined in the KoroiBot project,  Int’l Workshop for Wearable Robots, Baiona, Spain, 2014. 
  52. K. Mombaur: Optimization of sit to stand motions of elderly people for the design and control of physical assistive devices, Proceedings of Applied Mathematics and Mechanics (GAMM Annual Conference),  Erlangen, Germany,  March 2014
  53. M. Benoussad, K. Mombaur, C. Azevedo: Nonlinear model predictive control of the ankle joint by Electrical Stimulation For Drop Foot Correction, Proceedings of IEEE-IROS 2013, Tokyo, Japan
  54. K. H. Koch, K. Mombaur, P- Souères: Studying the effect of different optimization criteria on humanoid walking motions, Proceedings of SIMPAR 2012, Springer LNCIS, 2012
  55. K. H. Koch, K. Mombaur, P- Souères: Optimization-based walking generation for humanoids, IFAC-SYROCO 2012, published online, 2012
  56. K. Mombaur, M. Sreenivasa , Inverse optimal control as a tool to understand human yoyo playing, ICNAAM 2010, Rhodes, Greece, Sept. 2010
  57. K. Mombaur, M. Sreenivasa: HRP-2 plays the yoyo: From human to humanoid yoyo playing using optimal control, IEEE ICRA 2010, Anchorage, USA, May 2010
  58. A. Truong, D. Flavigne, J. Pettre, K. Mombaur, J.P. Laumond: Reactive synthesizing of human locomotion combining nonholonomic and holonomic behaviors, IEEE BioRob Conference 2010, Tokyo, Japan, Sept. 2010
  59. K. Mombaur, J.P. Laumond, A. Truong: An inverse optimal control approach to human motion modeling, ISRR 2009 (14th International Symposium of Robotics Research), Lucerne, Switzerland, Aug./Sept. 2009, Springer STAR
  60. T. Lang, K. Mombaur, S. Friedmann, J. Schlöder: Modeling and Optimal Control of a Pogo-Leg Running Robot, Proceedings of  CLAWAR 2009, Istanbul, Sept. 2009
  61. K. Mombaur, J.P. Laumond, E. Yoshida : An optimal control model unifying holonomic and nonholonomic walking in Proceedings of IEEE Humanoids 2008, Daejon, Korea
  62. R.W. Longman, K. Mombaur: Iterative Learning Control in Nonlinear Systems Using State Estimation for Relinearisations AAS/AIAA Space Flight Mechanics Meeting, Savannah, Georgia, USA, 2009
  63. R.W. Longman, K. Mombaur, B. Panomruttanarug: Designing Iterative Learning Control Subject to Actuator Limitations using QP Methods, AIAA/AAS Astrodynamics Specialist Conference, Hawaii, USA, 2008
  64. H. Diedam, D. Dimitrov, P.B. Wieber, K. Mombaur, M. Diehl: Online walking gait generation with adaptive foot position through linear model predictive control, in Proceedings of IEEE IROS 2008, Nice
  65. R. Longman, K. Mombaur: Implementing linear iterative learning laws in nonlinear systems, in Proceedings of  18th AAS/AIAA Space Flight Mechanics Meeting, Galveston, Texas, USA, 2008
  66. K. Berns, T. Luksch, K. Mombaur, G. Schultz: Using Optimization Techniques for the Design and Control of a Fast Biped, in Proceedings of Clawar 2007, Singapore
  67. K. D. Mombaur, H.G.Bock,  J.P. Schlöder and R. W. Longman – Stability Optimization of Periodic Walking and Running Motions, Oberwolfach Reports No. 2/2005 “Optimization & Applications”, p. 105 – 107, April 2005.  
  68. K. D. Mombaur, H.G.Bock, J. P. Schlöder and R. W. Longman – Stable Walking and Running Robots Without Feedback, Proceedings of Clawar 04, Madrid, September, 2004, Springer Verlag
  69. K. D. Mombaur, H.G.Bock,  J. P. Schlöder and R. W. Longman  – Open-loop Stable Control of Periodic Multibody Systems, in H. G. Bock, E. Kostina, H. X. Phu and R. Rannacher (eds.): “Modeling, Simulation and Optimization of Complex Processes”, Lecture Notes in Scientific Computing, Springer, 2004
  70. K. D. Mombaur, H.G.Bock,  J. P. Schlöder and R. W. Longman – Stability Optimization of Periodic Mechanical Systems without Feedback, Proceedings of Applied Mathematics and Mechanics (GAMM Annual Conference),  Padua, Italy, March 2003
  71. K. D. Mombaur, R. W. Longman, H. G. Bock, and J. P. Schlöder – Stable one-legged hopping without feedback and with a point foot. In Proceedings of IEEE International Conference on Robotics and Automation, Washington D.C., 2002.
  72. K. D. Mombaur, H. G. Bock, J. P. Schlöder, and R. W. Longman – Human-like actuated walking that is asymptotically stable without feedback. In Proceedings of IEEE International Conference on Robotics and Automation, Seoul, 2001.
  73. K. D. Mombaur, H. G. Bock, and R. W. Longman – Stable, unstable, and chaotic motions of bipedal walking robots without feedback. In F. L. Chernousko and A. L. Fradkov, editors, Proceedings of 2nd  International Conference on Control of Oscillations and Chaos, St. Petersburg, volume 2, pages 282 – 285, 2000.
  74. K. D. Mombaur, H. G. Bock, J. P. Schlöder, M. J. Winckler, and R. W. Longman – Open-loop stable control of running robots – a numerical method for studying stability in the context of optimal control problems. In Proceedings of Clawar ’98, Brussels, pages 89 – 94, 1998.

Theses

  1. PhD Thesis – see Books
  2. K. D. Metzger – Einsatz eines dynamischen Optimierungsverfahrens zur Muskelkraftberechnung menschlicher Bewegungen. Diplomarbeit (Master’s thesis), Institut A für Mechanik, Universität Stuttgart, 1995.
  3. K. D. Metzger – Etude numérique de l’effet d’un chauffage localisé sur la transition. Studienarbeit (Projet de fin d’études), ONERA-CERT/DERAT, ENSAE Toulouse, 1994.
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