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Katja D. Mombaur

Katja Daniela Mombaur

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affiliation: Karlsruhe Institute of Technology, Karlsruhe, Germany
affiliation: University of Waterloo, Ontario, Canada
affiliation (former): University of Heidelberg, Interdisciplinary Center for Scientific Computing

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2020 – today

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2024
[j43]
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Jan C. L. Lau, Katja D. Mombaur:
Can lower-limb exoskeletons support sit-to-stand motions in frail elderly without crutches? A study combining optimal control and motion capture. Frontiers Neurorobotics 18 (2024)
[i11]
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  - journals/corr/abs-2407-05148
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William Thibault, William Melek, Katja D. Mombaur:
Learning Velocity-based Humanoid Locomotion: Massively Parallel Learning with Brax and MJX. CoRR abs/2407.05148 (2024)
[i10]
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  - journals/corr/abs-2408-05301
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Marie Charbonneau, Francisco Javier Andrade Chavez, Katja D. Mombaur:
Slow waltzing with REEM-C: a physical-social human-robot interaction study of robot-to-human communication. CoRR abs/2408.05301 (2024)
[i9]
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  - journals/corr/abs-2408-11688
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Peter Q. Lee, John S. Zelek, Katja D. Mombaur:
Collaborative Robot Arm Inserting Nasopharyngeal Swabs with Admittance Control. CoRR abs/2408.11688 (2024)
[i8]
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  - journals/corr/abs-2408-12437
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Peter Q. Lee, John S. Zelek, Katja D. Mombaur:
Robotic Eye-in-hand Visual Servo Axially Aligning Nasopharyngeal Swabs with the Nasal Cavity. CoRR abs/2408.12437 (2024)
[i7]
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  - journals/corr/abs-2408-13100
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Peter Q. Lee, John S. Zelek, Katja D. Mombaur:
Complete Autonomous Robotic Nasopharyngeal Swab System with Evaluation on a Stochastically Moving Phantom Head. CoRR abs/2408.13100 (2024)
[i6]
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  - journals/corr/abs-2409-01174
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Giorgos Marinou, Ibrahima Kourouma, Katja D. Mombaur:
Development and Validation of a Modular Sensor-Based System for Gait Analysis and Control in Lower-Limb Exoskeletons. CoRR abs/2409.01174 (2024)
[i5]
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  - journals/corr/abs-2409-07846
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William Thibault, Vidyasagar Rajendran, William Melek, Katja D. Mombaur:
Learning Skateboarding for Humanoid Robots through Massively Parallel Reinforcement Learning. CoRR abs/2409.07846 (2024)
2023
[j42]
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Cheng Fang, Luka Peternel, Ajay Seth, Massimo Sartori, Katja D. Mombaur, Eiichi Yoshida:
Human Modeling in Physical Human-Robot Interaction: A Brief Survey. IEEE Robotics Autom. Lett. 8(9): 5799-5806 (2023)
[j41]
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  - journals/sensors/SundrupM23
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Jonas Christopher Große Sundrup, Katja D. Mombaur:
On the Distribution of Muscle Signals: A Method for Distance-Based Classification of Human Gestures. Sensors 23(17): 7441 (2023)
[c63]
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Pranav Barot, Ewen N. MacDonald, Katja D. Mombaur:
Natural head and body orientation for humanoid robots during conversations with moving human partners through motion capture analysis. ARSO 2023: 21-26
[c62]
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Pranav Barot, Ewen N. MacDonald, Katja D. Mombaur:
An Audio-Video Sensor Fusion Framework To Augment Humanoid Capabilities For Identifying And Interacting With Human Conversational Partners. Humanoids 2023: 1-8
[c61]
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Francisco Javier Andrade Chavez, Vidyasagar Rajendran, Katja D. Mombaur:
A Bio-inspired Solution for Double Support Force Distribution in Humanoid Robot Locomotion. Humanoids 2023: 1-8
[c60]
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Vidyasagar Rajendran, Francisco Javier Andrade Chavez, Katja D. Mombaur:
Whole-body Stabilization of the REEM-C Humanoid on Actuated Balance Boards in Sagittal and Frontal Directions. Humanoids 2023: 1-8
[i4]
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  - journals/corr/abs-2307-12129
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Pranav Barot, Katja D. Mombaur, Ewen N. MacDonald:
Estimating speaker direction on a humanoid robot with binaural acoustic signals. CoRR abs/2307.12129 (2023)
2022
[j40]
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Felix Aller, Monika Harant, Katja D. Mombaur:
Optimization of Dynamic Sit-to-Stand Trajectories to Assess Whole-Body Motion Performance of the Humanoid Robot REEM-C. Frontiers Robotics AI 9 (2022)
[j39]
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Peter Q. Lee, Vidyasagar Rajendran, Katja D. Mombaur:
Optimization-Based Motion Generation for Buzzwire Tasks With the REEM-C Humanoid Robot. Frontiers Robotics AI 9: 898890 (2022)
[j38]
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  - journals/firai/RemazeillesDBTPAMCSTPCCSTT22
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Anthony Remazeilles, Alfonso Dominguez, Pierre Barralon, Adriana Torres-Pardo, David Pinto-Fernandez, Felix Aller, Katja D. Mombaur, Roberto Conti, Lorenzo Saccares, Freygardur Thorsteinsson, Erik C. Prinsen, Alberto Cantón, Javier Castilla, Clara Beatriz Sanz-Morère, Jesús Tornero, Diego Torricelli:
Making Bipedal Robot Experiments Reproducible and Comparable: The Eurobench Software Approach. Frontiers Robotics AI 9 (2022)
[c59]
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Peter Q. Lee, John S. Zelek, Katja D. Mombaur:
Simulating and Optimizing Nasopharyngeal Swab Insertion Paths for use in Robotics. BioRob 2022: 1-7
[c58]
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  - conf/biorob/MahdiLM22
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Anas Mahdi, Jonathan Feng-Shun Lin, Katja D. Mombaur:
Maintaining mobility in older age - design and initial evaluation of the robot SkyWalker for walking & sit-to-stand assistance. BioRob 2022: 1-8
[c57]
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Giorgos Marinou, Lizeth Sloot, Katja D. Mombaur:
Towards efficient lower-limb exoskeleton evaluation: defining biomechanical metrics to quantify assisted gait familiarization. BioRob 2022: 1-8
[c56]
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Vidyasagar Rajendran, Jonathan Feng-Shun Lin, Katja D. Mombaur:
Towards Humanoids Using Personal Transporters: Learning to Ride a Segway from Humans. BioRob 2022: 1-8
[c55]
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  - conf/humanoids/ThibaultRM22
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William Thibault, Vidyasagar Rajendran, Katja D. Mombaur:
Bimanual Manipulation Workspace Analysis of Humanoid Robots with Object Specific Coupling Constraints. Humanoids 2022: 141-148
[c54]
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William Thibault, Francisco Javier Andrade Chavez, Katja D. Mombaur:
A Standardized Benchmark for Humanoid Whole-Body Manipulation. Humanoids 2022: 608-615
2021
[j37]
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Jan C. L. Lau, Katja D. Mombaur:
Preliminary Study on a Novel Protocol for Improving Familiarity with a Lower-Limb Robotic Exoskeleton in Able-Bodied, First-Time Users. Frontiers Robotics AI 8: 785251 (2021)
[j36]
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Amartya Ganguly, Gabriel Rashidi, Katja D. Mombaur:
Comparison of the Performance of the Leap Motion ControllerTM with a Standard Marker-Based Motion Capture System. Sensors 21(5): 1750 (2021)
[j35]
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  - journals/symmetry/EmondsM21
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Anna Lena Emonds, Katja D. Mombaur:
Asymmetry in Three-Dimensional Sprinting with and without Running-Specific Prostheses. Symmetry 13(4): 580 (2021)
[c53]
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Anna Lena Emonds, Katja D. Mombaur:
Using Subject-Specific Models to find Differences in Underlying optimization Criteria of Sprinting with and without Prostheses. HUMANOIDS 2021: 283-290
[c52]
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Felix Aller, Monika Harant, Sebastian Sontag, Matthew Millard, Katja D. Mombaur:
I3SA: The Increased Step Size Stability Assessment Benchmark and its Application to the Humanoid Robot REEM-C. IROS 2021: 5357-5363
2020
[j34]
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Felix Aller, David Pinto-Fernandez, Diego Torricelli, José Luis Pons, Katja D. Mombaur:
From the State of the Art of Assessment Metrics Toward Novel Concepts for Humanoid Robot Locomotion Benchmarking. IEEE Robotics Autom. Lett. 5(2): 914-920 (2020)

2010 – 2019

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2019
[j33]
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Matthew Millard, Katja D. Mombaur:
A Quick Turn of Foot: Rigid Foot-Ground Contact Models for Human Motion Prediction. Frontiers Neurorobotics 13: 62 (2019)
[j32]
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  - journals/finr/TorricelliVGMR19
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Diego Torricelli, Jan F. Veneman, José González-Vargas, Katja D. Mombaur, C. David Remy:
Editorial: Assessing Bipedal Locomotion: Towards Replicable Benchmarks for Robotic and Robot-Assisted Locomotion. Frontiers Neurorobotics 13: 86 (2019)
[j31]
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Anna Lena Emonds, Katja D. Mombaur:
Optimality Studies of Human Sprinting Motions with and Without Running-Specific Prostheses. Int. J. Humanoid Robotics 16(3): 1940003:1-1940003:22 (2019)
[j30]
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Silvan Lindner, Christoph Garbe, Katja D. Mombaur:
Optimization Based Multi-View Coverage Path Planning for Autonomous Structure From Motion Recordings. IEEE Robotics Autom. Lett. 4(4): 3278-3285 (2019)
[j29]
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Anna Lena Emonds, Johannes Funken, Wolfgang Potthast, Katja D. Mombaur:
Comparison of Sprinting With and Without Running-Specific Prostheses Using Optimal Control Techniques. Robotica 37(12): 2176-2194 (2019)
[c51]
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Monika Harant, Matthew Millard, Nejc Sarabon, Katja D. Mombaur:
Cost function evaluation for optimizing design and actuation of an active exoskeleton to ergonomically assist lifting motions. Humanoids 2019: 186-193
[c50]
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Kevin Stein, Katja D. Mombaur:
Performance indicators for stability of slackline balancing. Humanoids 2019: 469-476
2018
[j28]
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Khai-Long Ho Hoang, Sebastian I. Wolf, Katja D. Mombaur:
Benchmarking Stability of Bipedal Locomotion Based on Individual Full Body Dynamics and Foot Placement Strategies-Application to Impaired and Unimpaired Walking. Frontiers Robotics AI 5: 117 (2018)
[j27]
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Debora Clever, Yue Hu, Katja D. Mombaur:
Humanoid gait generation in complex environments based on template models and optimality principles learned from human beings. Int. J. Robotics Res. 37(10) (2018)
[c49]
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Anna Lena Emonds, Katja D. Mombaur:
Inverse Optimal Control Based Enhancement of Sprinting Motion Analysis with and without Running-Specific Prostheses. BioRob 2018: 556-562
[c48]
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Kevin Stein, Katja D. Mombaur:
Optimization-Based Analysis of a Cartwheel. BioRob 2018: 909-915
[i3]
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Paul Manns, Manish N. Sreenivasa, Matthew Millard, Katja D. Mombaur:
Motion optimization and parameter identification for a human and lower-back exoskeleton model. CoRR abs/1803.05666 (2018)
[i2]
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  - journals/corr/abs-1804-02959
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Manish N. Sreenivasa, Matthew Millard, Paul Manns, Katja D. Mombaur:
Optimizing wearable assistive devices with neuromuscular models and optimal control. CoRR abs/1804.02959 (2018)
2017
[j26]
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Torsten Kröger, Samir Menon, Katja D. Mombaur, Hanna Kurniawati, Marco Pavone:
Special issue on selected and extended papers from SIMPAR 2016. Adv. Robotics 31(22): 1157-1158 (2017)
[j25]
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R. M. Kopitzsch, Debora Clever, Katja D. Mombaur:
Optimization-based analysis of push recovery during walking motions to support the design of rigid and compliant lower limb exoskeletons. Adv. Robotics 31(22): 1238-1252 (2017)
[j24]
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Manish N. Sreenivasa, Matthew Millard, Martin L. Felis, Katja D. Mombaur, Sebastian I. Wolf:
Optimal Control Based Stiffness Identification of an Ankle-Foot Orthosis Using a Predictive Walking Model. Frontiers Comput. Neurosci. 11: 23 (2017)
[j23]
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Matthew Millard, Manish N. Sreenivasa, Katja D. Mombaur:
Predicting the Motions and Forces of Wearable Robotic Systems Using Optimal Control. Frontiers Robotics AI 4: 41 (2017)
[j22]
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Maximilien Naveau, Manuel Kudruss, Olivier Stasse, Christian Kirches, Katja D. Mombaur, Philippe Souères:
A Reactive Walking Pattern Generator Based on Nonlinear Model Predictive Control. IEEE Robotics Autom. Lett. 2(1): 10-17 (2017)
[j21]
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Debora Clever, Monika Harant, Katja D. Mombaur, Maximilien Naveau, Olivier Stasse, Dominik Endres:
COCoMoPL: A Novel Approach for Humanoid Walking Generation Combining Optimal Control, Movement Primitives and Learning and its Transfer to the Real Robot HRP-2. IEEE Robotics Autom. Lett. 2(2): 977-984 (2017)
[j20]
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Paul Manns, Manish N. Sreenivasa, Matthew Millard, Katja D. Mombaur:
Motion Optimization and Parameter Identification for a Human and Lower Back Exoskeleton Model. IEEE Robotics Autom. Lett. 2(3): 1564-1570 (2017)
[j19]
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Ivan Koryakovskiy, Manuel Kudruss, Robert Babuska, Wouter Caarls, Christian Kirches, Katja D. Mombaur, Johannes P. Schlöder, Heike Vallery:
Benchmarking model-free and model-based optimal control. Robotics Auton. Syst. 92: 81-90 (2017)
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Anna Lena Kleesattel, Wolfgang Potthast, Katja D. Mombaur:
Towards a better understanding of human sprinting motions with and without prostheses. Humanoids 2017: 158-164
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Kevin Stein, Yue Hu, Manuel Kudruss, Maximilien Naveau, Katja D. Mombaur:
Closed loop control of walking motions with adaptive choice of directions for the iCub humanoid robot. Humanoids 2017: 184-190
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Monika Harant, Manish N. Sreenivasa, Matthew Millard, Nejc Sarabon, Katja D. Mombaur:
Parameter optimization for passive spinal exoskeletons based on experimental data and optimal control. Humanoids 2017: 535-540
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Yue Hu, Katja D. Mombaur:
Influence of compliance modulation on human locomotion. ICRA 2017: 4130-4137
[c43]
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Yue Hu, Katja D. Mombaur:
Optimal control based push recovery strategy for the iCub humanoid robot with series elastic actuators. IROS 2017: 5846-5852
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Ruth Malin Kopitzsch Schemschat, Katja D. Mombaur:
Using Spring-Damper Elements to Support Human-Like Push Recovery Motions. RAAD 2017: 227-241
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Katja D. Mombaur, Debora Clever:
Inverse Optimal Control as a Tool to Understand Human Movement. Geometric and Numerical Foundations of Movements 2017: 163-186
2016
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Kensuke Harada, Katja D. Mombaur, Takayuki Matsuno, Dinesh Manocha:
Special Issue on Recent Advancements on Industrial Robot Technology. Adv. Robotics 30(17-18): 1087 (2016)
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Debora Clever, Monika Harant, Kai Henning Koch, Katja D. Mombaur, Dominik Endres:
A novel approach for the generation of complex humanoid walking sequences based on a combination of optimal control and learning of movement primitives. Robotics Auton. Syst. 83: 287-298 (2016)
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Mourad Benoussaad, Benoît Sijobert, Katja D. Mombaur, Christine Azevedo-Coste:
Robust Foot Clearance Estimation Based on the Integration of Foot-Mounted IMU Acceleration Data. Sensors 16(1): 12 (2016)
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Dana Kulic, Gentiane Venture, Katsu Yamane, Emel Demircan, Katja D. Mombaur:
Introduction to the Special Issue on Movement Science for Humans and Humanoids. IEEE Trans. Robotics 32(4): 773-775 (2016)
[j14]
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Dana Kulic, Gentiane Venture, Katsu Yamane, Emel Demircan, Ikuo Mizuuchi, Katja D. Mombaur:
Anthropomorphic Movement Analysis and Synthesis: A Survey of Methods and Applications. IEEE Trans. Robotics 32(4): 776-795 (2016)
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Benjamin Reh, Felix Aller, Katja D. Mombaur:
A New Continuous Model for Segregation Implemented and Analyzed on Swarm Robots. ANTS Conference 2016: 28-39
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Benjamin Reh, Katja D. Mombaur:
Motion Reconstruction of Swarm-Like Self-organized Motor Bike Traffic from Public Videos. ANTS Conference 2016: 241-248
[c39]
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R. Malin Schemschat, Debora Clever, Martin L. Felis, Enrico Chiovetto, Martin A. Giese, Katja D. Mombaur:
Joint torque analysis of push recovery motions during human walking. BioRob 2016: 133-139
[c38]
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Yue Hu, Francesco Nori, Katja D. Mombaur:
Squat motion generation for the humanoid robot iCub with Series Elastic Actuators. BioRob 2016: 207-212
[c37]
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Marina Horn, Benjamin Reh, Frederik Wenz, Jan Stallkamp, Katja D. Mombaur:
Patient specific corotated FEM simulation and gelatin phantom for prostate brachytherapy. BioRob 2016: 341-346
[c36]
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Davide Corradi, Khai-Long Ho Hoang, Katja D. Mombaur:
Optimal control for balance assistance using a robotic rollator. BioRob 2016: 594-599
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Debora Clever, R. Malin Schemschat, Martin L. Felis, Katja D. Mombaur:
Inverse optimal control based identification of optimality criteria in whole-body human walking on level ground. BioRob 2016: 1192-1199
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Yue Hu, Jorhabib Eljaik, Kevin Stein, Francesco Nori, Katja D. Mombaur:
Walking of the iCub humanoid robot in different scenarios: Implementation and performance analysis. Humanoids 2016: 690-696
[c33]
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Martin L. Felis, Katja D. Mombaur:
Synthesis of full-body 3-D human gait using optimal control methods. ICRA 2016: 1560-1566
[c32]
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Debora Clever, Katja D. Mombaur:
An Inverse Optimal Control Approach for the Transfer of Human Walking Motions in Constrained Environment to Humanoid Robots. Robotics: Science and Systems 2016
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R. Malin Schemschat, Debora Clever, Katja D. Mombaur:
Optimization based analysis of push recovery during walking motions to support the design of lower-limb exoskeletons. SIMPAR 2016: 224-231
[i1]
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Yue Hu, Jorhabib Eljaik, Kevin Stein, Francesco Nori, Katja D. Mombaur:
Walking of the iCub humanoid robot in different scenarios: implementation and performance analysis. CoRR abs/1607.08525 (2016)
2015
[j13]
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Diego Torricelli, José González-Vargas, Jan F. Veneman, Katja D. Mombaur, Nikos G. Tsagarakis, Antonio J. del Ama, Ángel Gil-Agudo, Juan C. Moreno, José Luis Pons Rovira:
Benchmarking Bipedal Locomotion: A Unified Scheme for Humanoids, Wearable Robots, and Humans. IEEE Robotics Autom. Mag. 22(3): 103-115 (2015)
[c30]
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Manuel Kudruss, Maximilien Naveau, Olivier Stasse, Nicolas Mansard, Christian Kirches, Philippe Souères, Katja D. Mombaur:
Optimal control for whole-body motion generation using center-of-mass dynamics for predefined multi-contact configurations. Humanoids 2015: 684-689
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Kai Henning Koch, Debora Clever, Katja D. Mombaur, Dominik Endres:
Learning movement primitives from optimal and dynamically feasible trajectories for humanoid walking. Humanoids 2015: 866-873
[c28]
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Martin L. Felis, Katja D. Mombaur, Alain Berthoz:
An optimal control approach to reconstruct human gait dynamics from kinematic data. Humanoids 2015: 1044-1051
[c27]
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Khai-Long Ho Hoang, Katja D. Mombaur:
Optimal design of a physical assistive device to support sit-to-stand motions. ICRA 2015: 5891-5897
2014
[j12]
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Katja D. Mombaur, Abderrahmane Kheddar, Kensuke Harada, Thomas Buschmann, Christopher G. Atkeson:
Model-Based Optimization for Robotics [TC Spotlight]. IEEE Robotics Autom. Mag. 21(3): 24-25 (2014)
[c26]
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Evita-Stavroula Fotinea, Eleni Efthimiou, Athanasia-Lida Dimou, Theodore Goulas, Panayotis Karioris, Angelika Peer, Petros Maragos, Costas S. Tzafestas, Iasonas Kokkinos, Klaus Hauer, Katja D. Mombaur, Yiannis Koumpouros, Bartlomiej Stanczyk:
Data Acquisition towards Defining a Multimodal Interaction Model for Human - Assistive Robot Communication. HCI (6) 2014: 613-624
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Debora Clever, Katja D. Mombaur:
A new template model for optimization studies of human walking on different terrains. Humanoids 2014: 500-505
[c24]
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Kai Henning Koch, Katja D. Mombaur, Olivier Stasse, Philippe Souères:
Optimization based exploitation of the ankle elasticity of HRP-2 for overstepping large obstacles. Humanoids 2014: 733-740
[c23]
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Marina Horn, Manish N. Sreenivasa, Katja D. Mombaur:
Optimization model of the predictive head orientation for humanoid robots. Humanoids 2014: 767-772
[c22]
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Yue Hu, Martin L. Felis, Katja D. Mombaur:
Compliance analysis of human leg joints in level ground walking with an optimal control approach. Humanoids 2014: 881-886
2013
[j11]
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Sebastian Sager, Katja D. Mombaur, Joachim Funke:
Scientific computing for the cognitive sciences. J. Comput. Sci. 4(4): 242-244 (2013)
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Martin L. Felis, Katja D. Mombaur, Hideki Kadone, Alain Berthoz:
Modeling and identification of emotional aspects of locomotion. J. Comput. Sci. 4(4): 255-261 (2013)
[c21]
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Alexander Schubert, Katja D. Mombaur:
The Role of Motion Dynamics in Abstract Painting. ICCC 2013: 210-214
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Mourad Benoussaad, Katja D. Mombaur, Christine Azevedo-Coste:
Nonlinear model predictive control of joint ankle by electrical stimulation for drop foot correction. IROS 2013: 983-989
2012
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Martin L. Felis, Katja D. Mombaur, Alain Berthoz:
Mathematical Modeling of Emotional Body Language During Human Walking. HPSC 2012: 25-35
[c18]
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Khai-Long Ho Hoang, Katja D. Mombaur, Sebastian I. Wolf:
Investigating Capturability in Dynamic Human Locomotion Using Multi-body Dynamics and Optimal Control. HPSC 2012: 83-93
[c17]
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Katja D. Mombaur:
A Mathematical Study of Sprinting on Artificial Legs. HPSC 2012: 157-168
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Alexander Schubert, Katja D. Mombaur, Joachim Funke:
Mathematical Models of Perception and Generation of Art Works by Dynamic Motions. HPSC 2012: 207-219
[c15]
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Martin L. Felis, Katja D. Mombaur:
Using Optimal Control Methods to Generate Human Walking Motions. MIG 2012: 197-207
[c14]
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Kai Henning Koch, Katja Daniela Mombaur, Philippe Souères:
Studying the Effect of Different Optimization Criteria on Humanoid Walking Motions. SIMPAR 2012: 221-236
[c13]
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Kai Henning Koch, Katja D. Mombaur, Philippe Souères:
Optimization-Based Walking Generation for Humanoid Robot. SyRoCo 2012: 498-504
2011
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Michael Raschke, Katja D. Mombaur, Alexander Schubert:
An optimisation-based robot platform for the generation of action paintings. Int. J. Arts Technol. 4(2): 181-195 (2011)
2010
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Katja D. Mombaur, Jean-Paul Laumond, Eiichi Yoshida:
An Optimal Control-Based Formulation to Determine Natural Locomotor Paths for Humanoid Robots. Adv. Robotics 24(4): 515-535 (2010)
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Andrei Herdt, Holger Diedam, Pierre-Brice Wieber, Dimitar Dimitrov, Katja D. Mombaur, Moritz Diehl:
Online Walking Motion Generation with Automatic Footstep Placement. Adv. Robotics 24(5-6): 719-737 (2010)
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Katja D. Mombaur, Anh Truong, Jean-Paul Laumond:
From human to humanoid locomotion - an inverse optimal control approach. Auton. Robots 28(3): 369-383 (2010)
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Katja D. Mombaur, Manish N. Sreenivasa:
HRP-2 plays the yoyo: From human to humanoid yoyo playing using optimal control. ICRA 2010: 3369-3376

2000 – 2009

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What is the meaning of the colors in the publication lists?

2009
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Katja D. Mombaur, Michael Scheint, Marion Sobotka:
Optimal Control and Design of Bipedal Robots with Compliance (Optimale Steuerung und Auslegung zweibeiniger Laufroboter mit elastischen Gelenken). Autom. 57(7): 349-359 (2009)
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Katja D. Mombaur:
Using optimization to create self-stable human-like running. Robotica 27(3): 321-330 (2009)
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Moritz Diehl, Katja D. Mombaur, Dominikus Noll:
Stability Optimization of Hybrid Periodic Systems via a Smooth Criterion. IEEE Trans. Autom. Control. 54(8): 1875-1880 (2009)
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Michael Raschke, Katja D. Mombaur, Alexander Schubert:
JacksonBot - Design, Simulation and Optimal Control of an Action Painting Robot. ArtsIT 2009: 120-127
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Katja D. Mombaur, Jean-Paul Laumond, Anh Truong:
An Inverse Optimal Control Approach to Human Motion Modeling. ISRR 2009: 451-468
2008
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Katja D. Mombaur, Jean-Paul Laumond, Eiichi Yoshida:
An optimal control model unifying holonomic and nonholonomic walking. Humanoids 2008: 646-653
[c8]
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Holger Diedam, Dimitar Dimitrov, Pierre-Brice Wieber, Katja D. Mombaur, Moritz Diehl:
Online walking gait generation with adaptive foot positioning through Linear Model Predictive control. IROS 2008: 1121-1126
2007
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Katja D. Mombaur:
Human-like Running Can Be Open-Loop Stable. AMS 2007: 282-286
2006
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Katja D. Mombaur, Richard W. Longman, Hans Georg Bock, Johannes P. Schlöder:
Optimizing Spring-Damper Design in Human Like Walking that is Asymptotically Stable Without Feedback. HPSC 2006: 403-418
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Katja D. Mombaur, Peter Giesl, Heiko Wagner:
Stability Optimization of Juggling. HPSC 2006: 419-432
2005
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Katja D. Mombaur, Richard W. Longman, Hans Georg Bock, Johannes P. Schlöder:
Open-loop stable running. Robotica 23(1): 21-33 (2005)
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Katja D. Mombaur, Hans Georg Bock, Johannes P. Schlöder, Richard W. Longman:
Self-stabilizing somersaults. IEEE Trans. Robotics 21(6): 1148-1157 (2005)
2004
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Katja D. Mombaur, Hans Georg Bock, Johannes P. Schlöder, Richard W. Longman:
Open-loop stability - a new paradigm for periodic optimal control and analysis of walking mechanisms. RAM 2004: 704-709
2003
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Katja D. Mombaur, Hans Georg Bock, Johannes P. Schlöder, Richard W. Longman:
Open-loop Stable Control of Periodic Multibody Systems. HPSC 2003: 369-382
2002
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Katja D. Mombaur, Richard W. Longman, Hans Georg Bock, Johannes P. Schlöder:
Stable One-Legged Hopping without Feedback and with a Point Foot. ICRA 2002: 3978-3983
2001
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Katja D. Mombaur, Hans Georg Bock, Richard W. Longman:
Human-Like Actuated Walking that is Asymptotically Stable Without Feedback. ICRA 2001: 4128-4133

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