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Journal Articles

Anna Lena Emonds, Johannes Funken, Wolfgang Potthast and Katja Mombaur – Comparison of Sprinting With and Without Running-Specific Prostheses Using Optimal Control Techniques, submission to Robotica, Cambridge University Press, Under Review
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Anna Lena Emonds and Katja Mombaur – Optimality Studies of Human Sprinting Motions with and without Running-Specific Prostheses, submission to International Journal of Humanoid Robotics, World Scientific Publishing Company, Under Review
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M Millard, A.L. Emonds, M Harant and K Mombaur – A reduced muscle model and planar musculoskeletal model fit for the simulation of whole-body movements, Elsevier, Journal of biomechanics, vol. 89, 11-20, 2019
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D. Clever, Y. Hu and K. Mombaur – Humanoid Gait Generation in Complex Environments Based on Optimality Principles Learned from Humans, International Journal of Robotics Research, published online May, 2018
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M. Harant, M. Millard, M. Sreenivasa, N. vSarabon and K. Mombaur – Comparison of Objective Functions for the Design of an Active Spinal Exoskeleton using Motion Capture Data and Optimal Control, Submitted to RA-L only Intelligent Human-Robot Interaction for Rehabilitation and Physical Assistance for the IEEE Robotics and Automation Letters (RA-L), 2018
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Y. Hu and K. Mombaur – Bio-Inspired Optimal Control Framework to Generate Walking Motions for the Humanoid Robot iCub Using Whole Body Models, Appl. Sci., vol. 8, no. 2, 278, Feb, 2018
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Manish Sreenivasa, Matthew Millard, Idsart Kingma, Jaap H. van Dieen and Katja Mombaur – Predicting the influence of hip and lumbar flexibility on lifting motions using optimal control, Journal of Biomechanics, vol. 78, 118 - 125, 2018
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Christian Seitz – Der Einsatz von Drohnen und Photogrammetrie in der Archäologie. Ausgewählte Beispiele aus Baden und der Kurpfalz, Propyläum, Archäologische Nachrichten aus Baden, Förderkreis Archäologie in Baden and Förderkreis für die Ur- und Frühgeschichtliche Forschung in Baden, , 2018 (to be published)
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Debora Clever, Monika Harant, Katja Mombaur, Maximilien Naveau, Olivier Stasse and 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, IEEE Robotics and Automation Letters, vol. 2, no. 2, 977-984, 2017
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Ivan Koryakovskiy, Manuel Kudruss, Robert Babuvska, Wouter Caarls, Christian Kirches, Katja Mombaur, Johannes P Schlö"der and Heike Vallery – Benchmarking model-free and model-based optimal control , Robotics and Autonomous Systems , vol. 92, no. , 81 - 90, 2017
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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, vol. 31, no. 22, 1238-1252, 2017
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Manish Sreenivasa, Matthew Millard, Martin Felis, Katja Mombaur and Sebastian I. Wolf – Optimal control based stiffness identification of an ankle-foot orthosis using a predictive walking model , Frontiers in Computational Neuroscience, vol. 11, no. 23, 2017
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M Millard, M Sreenivasa and K Mombaur – Predicting the motions and forces of wearable robotic systems using optimal control, Frontiers, Frontiers in Robotics and AI, vol. 4, 41, 2017
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K. Mombaur and 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, Journal of Biomechanics, vol. 58, 131 - 138, 2017
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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, vol. 2, no. 3, 1564-1570, 2017
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Debora Clever, Monika Harant, Henning Koch, Katja Mombaur and 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, Elsevier, Robotics and Autonomous Systems, vol. 83, 287-298, 2016
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M. L. Felis – RBDL: an Efficient Rigid-Body Dynamics Library using Recursive Algorithms, Autonomous Robots, 1-17, 2016
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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, vol. 32, 2016
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M. Sreenivasa, C. J. G. Chamorro, D. G. Alvarado, O. Rettig and S. I. Wolf – Patient-specific bone geometry and segment inertia from MRI images for model-based analysis of pathological gait, Journal of Biomechanics, vol. 49, no. 9, 1918–1925, 2016
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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
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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, vol. 48, no. 13, 3732–-3736, October, 2015
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M. Sreenivasa, K. Mombaur and 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, vol. 10, no. 4, April, 2015
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D. Torricelli, J. Gonzalez, J. Veneman, K. Mombaur, N. Tsagarakis, A. J. del-Ama, A. Gil-Agudo, J. C. Moreno and J. L. Pons – Benchmarking bipedal locomotion in humanoids, wearable robots and humans: a unified scheme, IEEE Robotics and Automation Magazine, vol. 22, no. 3, 103-105, September, 2015
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K. Mombaur, A. Kheddar, K. Harada, T. Buschmann and C. Atkeson – TC Spotlight: Model-based Optimization for Robotics, Robotics and Automation Magazine, September, 2014
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K. Mombaur, K. H. Koch and M. L. Felis – Model-based optimization for robotics, (editors: K. Harada and Y. Tazaki) Journal of the Robotics Society of Japan, vol. 32, no. 6, July, 2014
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M. L. Felis, K. Mombaur, H. Kadone and A. Berthoz – Modeling and identification of emotional aspects of locomotion, Journal of Computational Science, vol. 4, no. 4, 255-261, 2013
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Christian Seitz and Olaf Wagener – Virtuelle 3D-Burgenmodellierung im Test., Europäisches Burgeninstitut, Burgen und Schlösser, Zeitschrift für Burgenforschung und Denkmalpflege, no. 3, 187-190, 2012
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K. Hatz, K. Mombaur and J. M. Donelan – Control of Ankle Extensor Muscle Activity in Walking Cats, Journal of Neurophysiology, August, 2012
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K. Mombaur – Synergies between humanoid robotics and biomechanics for motion generation, Computer Methods in Biomechanics and Biomedical Engineering, vol. 15, no. 1, September, 2012
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J. Koschorreck and K. Mombaur – Modeling and Optimal Control of Human Platform Diving With Somersaults and Twists, Optimization & Engineering, vol. 12, no. 4, December, 2011
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K. Mombaur and T. Stein – Numerical Optimization as a Tool for Sports Science, Science et Motricité, vol. 75, 7-18, 2011
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M. Raschke, K. Mombaur and A. Schubert – An optimization-based robot platform for the generation of action paintings, International Journal of Arts and Technology, vol. 4, no. 2, 181-195, 2011
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Christian Seitz and Holger Altenbach – Project archeye-the quadrocopter as the archaeologist’s eye, ISPRS-Int. Arch. Photogramm. Remote Sens. Spatial Inform. Sci., vol. 38, no. 1/C22, 297-302, 2011
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A. Herdt, H. Diedam, P. B. Wieber, D. Dimitrov, K. Mombaur and M. Diehl – Online walking motion generation with automatic foot step placement, Advanced Robotics, vol. 24, no. 5-6, 719-737, 2010
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K. Mombaur, J.-P. Laumond and E. Yoshida – An Optimal Control Based Formulation to Determine Natural Locomotor Paths for Humanoid Robots, Advanced Robotics, vol. 24, no. 4, March, 2010
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K. Mombaur, A. Truong and J.-P. Laumond – From Human to Humanoid Locomotion – An inverse optimal control approach, Autonomous Robots, vol. 28, no. 3, 2010
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G. Schultz and K. Mombaur – Modeling and Optimal Control of Human-Like Running, Transactions on Mechatronics, vol. 15, no. 5, 2010
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M. Diehl, K. Mombaur and D. Noll – Stability Optimization of Hybrid Periodic Systems via a Smooth Criterion, Transactions on Automatic Control, vol. 54, no. 8, August, 2009
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L. Hoyet, F. Multon, K. Mombaur and E. Yoshida – Balance in dynamic situations: Role of the underlying model, Computer Methods in Biomechanics and Biomedical Engineering, vol. 12, no. 2-1, 2009
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J. Koschorreck and K. Mombaur – Optimization of Somersaults and Twists in Platform Diving, Computer Methods in Biomechanics and Biomedical Engineering, vol. 12, no. 2-1, 2009
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R. W. Longman and K. Mombaur – Iterative Learning Control in Nonlinear Systems using State Estimation for Relinearization, Advances in the Astronautical Sciences, vol. 134, 1721-1735, 2009
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K. Mombaur, M. Scheint and M. Sobotka – Control and Design of Legged Robots With Compliance, Automatisierungstechnik, vol. 57, no. 7, July, 2009
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K. Mombaur, A. Truong and J.-P. Laumond – Identifying the objectives of human path generation, Computer Methods in Biomechanics and Biomedical Engineering, vol. 12, no. 2-1, 2009
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K. Mombaur – Using optimization to create self-stable human-like running, Robotica, vol. 27, 321-330, June, 2009
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K. Mombaur, H. G. Bock, J. P. Schlöder and R. W. Longman – Self-stabilizing somersaults, Transactions on Robotics, vol. 21, no. 6, December, 2005
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K. Mombaur, R. W. Longman, H. G. Bock and J. P. Schlöder – Open-loop stable running, Robotica, vol. 23, no. 1, 2005
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M. J. Coleman, M. Garcia, K. Mombaur and A. Ruina – Prediction of stable walking for a toy that cannot stand, Physical Review E, 2001
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M. Sreenivasa and D. Gonzalez-Alvarado – "High-resolution computer meshes of the lower body bones of an adult human female derived from CT images", ArXiv e-prints, apr, 2018
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M. Sreenivasa and M. Harant – "ModelFactory: A Matlab/Octave based toolbox to create human body models", ArXiv e-prints, apr, 2018
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Books

Modeling, Simulation and Optimization of Bipedal Walk, (editors: K. Mombaur and K. Berns) Springer Berlin Heidelberg, COSMOS (Cognitive Systems Monographs), no. 18, 2013
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Fast Motions in Robotics and Biomechanics – Optimization & Feedback Control, (editors: M. Diehl and K. Mombaur) Springer Berlin Heidelberg, Lecture Notes in Control and Information Science, vol. 341, September, 2006
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Book Chapters

K. Mombaur and E. Yoshida – Humanoid Motion Planning, Optimization, and Gait Generation: Open Questions and Future Directions, (editors: A. Goswami and P. Vadakkepat) Springer, Humanoid Robotics – A Reference, to appear Oct 2018
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K. Mombaur – Humanoid Motion Optimization, (editors: A. Goswami and P. Vadakkepat) Springer, Humanoid Robotics – A Reference, to appear Oct 2018
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E. Yoshida and K. Mombaur – Introduction: Motion Planning, Optimization, (editors: A. Goswami and P. Vadakkepat) Springer, Humanoid Robotics – A Reference, to appear Oct 2018
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K. Mombaur, D. Corradi, K.-L. Ho-Hoang, A. Schubert – Assistenzroboter für eine Steigerung der Mobilität im Alter, (editors: M. Wink J. Funke) Heidelberg University Publishing, Perspektiven der Mobilität, Heidelberger Jahrbücher Online, vol. 3, 2018
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Christian Seitz – Combined Aerial and Ground-Based Structure from Motion for Cultural Heritage Documentation, Springer, Digital Geoarchaeology, 149-163, 2018
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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, (editors: M. Sharbafi and A. Seyfarth) Elsevier, Bio-inspired legged locomotion: concepts, control and implementation, 2017
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Manish Sreenivasa, Jean-Paul Laumond, Katja Mombaur and Alain Berthoz – Principles underlying locomotor trajectory formation, Humanoid Robotics: A Reference, Springer Netherlands, Humanoid Robotics: A reference, 2017
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K. Mombaur and D. Clever – Inverse optimal control as a tool to understand human movement, (editors: J.-P. Laumond, N. Mansard and J.-B. Lasserre) Springer STAR Series, Geometric and Numerical Foundations of Movements, 2017
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K. Mombaur, Y. Hu and J. Buchli – Compliance and efficiency in bipedal walking, (editors: M. Sharbafi and A. Seyfarth) Elsevier, Bio-inspired legged locomotion: concepts, control and implementation, 2017
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K. Mombaur and H. Vallery – Stability and robustness of bipedal walking, (editors: M. Sharbafi and A. Seyfarth) Elsevier, Bio-inspired legged locomotion: concepts, control and implementation, 2017
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K. Mombaur – Optimization as guiding principle of locomotion, (editors: M. Sharbafi and A. Seyfarth) Elsevier, Bio-inspired legged locomotion: concepts, control and implementation, 2017
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K. Mombaur – Wie viel Intelligenz steckt in der Mechanik unseres Körpers? Passiv-dynamische Roboter, menschliche Bewegungsstudien, mathematsche Modelle und Kleists Marionettentheater, (editors: G. Etzelmüller, T. Fuchs and C. Tewes ) de Gruyter, Verkörperung. Eine neue interdisziplinäre Anthropologie, 2017, to appear
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Christian Seitz, Olaf Wagener and Sven Havemann – Virtual Palaces, Part II : Lost Palaces and their Afterlife ; Virtual Reconstruction Between Science and Media, (editors: Stefan Breitling, Stephan Hoppe and Heike Messemers) 171-199, 2016
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K. Mombaur and K.-L Ho Hoang – Rollator 2.0 - der optimale Mobilitätsassistent ist ein Roboter, (editors: Baden-Württemberg-Stiftung) Hirzel, 100! Was die Wissenschaft über das Altern weiß., 2016
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K. Mombaur – Optimal Control for Applications in Medical and Rehabilitation Technology - Challenges and Solutions, (editors: J.B. Hirriart-Urruty, A. Koryotowski, H. Maurer and M. Szymkat) Springer, Advances in Mathematical Modeling, Optimization and Optimal Control, 2016
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Benjamin Reh, Felix Aller and Katja Mombaur – A New Continuous Model for Segregation Implemented and Analyzed on Swarm Robots, (editors: Marco Dorigo, Mauro Birattari, Xiaodong Li, Manuel López-Ibáñez, Kazuhiro Ohkura, Carlo Pinciroli and Thomas Stützle) Springer International Publishing, Swarm Intelligence: 10th International Conference, ANTS 2016, Brussels, Belgium, September 7-9, 2016, Proceedings, 28-39, 2016
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Benjamin Reh and Katja Mombaur – Motion Reconstruction of Swarm-Like Self-organized Motor Bike Traffic from Public Videos, (editors: Marco Dorigo, Mauro Birattari, Xiaodong Li, Manuel López-Ibáñez, Kazuhiro Ohkura, Carlo Pinciroli and Thomas Stützle) Springer International Publishing, Swarm Intelligence: 10th International Conference, ANTS 2016, Brussels, Belgium, September 7-9, 2016, Proceedings, 241-248, 2016
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Christian Seitz – Mit Kamera und Drohne - 3D-Modelle der Ginsburg, von Schluss Junkernhees und Burgholdinghausen., (editors: Olaf Wagener) Stadtarchiv Kreuztal, Grenze / Landwehr / Burgen, Kreuztaler Rückblicke, 192 Seiten, 2015
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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) Springer, Modeling, Simulation and Optimization of Complex Processes - HPSC 2015, 12, 2015, accepted
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M. L. Felis, K. Mombaur and A. Berthoz – Mathematical Modeling of Emotional Body Language During Human Walking, (editors: H. G. Bock, X. P. Hoang, R. Rannacher and J. P. Schlöder) Springer International Publishing, Modeling, Simulation and Optimization of Complex Processes - HPSC 2012, 25-35, 2014
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K.-L. Ho Hoang, K. Mombaur and S. Wolf – Investigating Capturability in Dynamic Human Locomotion Using Multi-body Dynamics and Optimal Control, (editors: H. G. Bock, X. P. Hoang, R. Rannacher and J. P. Schlöder) Springer International Publishing, Modeling, Simulation and Optimization of Complex Processes - HPSC 2012, 83-93, 2014
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K. Mombaur – A Mathematical Study of Sprinting on Artificial Legs, (editors: H. G. Bock, X. P. Hoang, R. Rannacher and J. P. Schlöder) Springer International Publishing, Modeling, Simulation and Optimization of Complex Processes - HPSC 2012, 157-168, 2014
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A. Schubert, K. Mombaur and J. Funke – Mathematical Models of Perception and Generation of Art Works by Dynamic Motions, (editors: H. G. Bock, X. P. Hoang, R. Rannacher and J. P. Schlöder) Springer International Publishing, Modeling, Simulation and Optimization of Complex Processes - HPSC 2012, 207-219, 2014
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M. L. Felis and K. Mombaur – Modeling and Optimization of Human Walking, (editors: K. Mombaur and K. Berns) Springer Berlin Heidelberg, Modeling, Simulation and Optimization of Bipedal Walking, Cognitive Systems Monographs, vol. 18, 31-42, 2013
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R. Héliot, K. Mombaur and C. Azevedo – Coupling CPG and optimization to generate muscle activation for drop-foot correction online, Springer COSMOS, Modeling, Simulation and Optimization of Bipedal Walking, 2013
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K. Mombaur, A. H. Olivier and A. Crétual – Forward and Inverse Optimal Control of Bipedal Running, (editors: K. Mombaur and K. Berns) Springer Berlin Heidelberg, Modeling, Simulation and Optimization of Bipedal Walking, Cognitive Systems Monographs, vol. 18, 165-179, 2013
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M. L. Felis and K. Mombaur – Using Optimal Control Methods to Generate Human Walking Motions, (editors: M. Kallmann and K. Bekris) Springer Berlin Heidelberg, Motion in Games, Lecture Notes in Computer Science, vol. 7660, 197-207, 2012
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K. H. Koch, K. Mombaur and P. Souères – Studying the Effect of Different Optimization Criteria on Humanoid Walking Motions, (editors: I. Noda, N. Ando, D. Brugali and J. J. Kuffner) Springer Berlin Heidelberg, Simulation, Modeling, and Programming for Autonomous Robots, Lecture Notes in Computer Science, vol. 7628, 221-236, 2012
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K. Mombaur, P. Giesl and H. Wagner – Stability Optimization of Juggling, (editors: H. G. Bock, E. Kostina, H. X. Phu and R. Rannacher) Springer, Modeling, Simulation and Optimization of Complex Processes, 2008
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R.W. Longman and K.D. Mombaur – Investigating the Use of Iterative Learning Control and Repetitive Control to Implement Periodic Gaits, (editors: Moritz Diehl and Katja Mombaur) Springer Berlin Heidelberg, Fast Motions in Biomechanics and Robotics: Optimization and Feedback Control, 189-218, 2006
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K. Mombaur – Performing Open-Loop Stable Flip-Flops -- An Example for Stability Optimization and Robustness Analysis of Fast Periodic Motions, (editors: Moritz Diehl and Katja Mombaur) Springer Berlin Heidelberg, Fast Motions in Biomechanics and Robotics: Optimization and Feedback Control, 253-275, 2006
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K. Mombaur, H. G. Bock, J. P. Schlöder and R. W. Longman – Open-loop Stable Control of Periodic Multibody Systems, (editors: H. G. Bock, E. Kostina, H. X. Phu and R. Rannacher) Springer LNICST, Modeling, Simulation and Optimization of Complex Processes, 2004
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Conference Proceedings

Anna Lena Emonds and Katja Mombaur – Inverse Optimal Control Based Enhancement of Sprinting Motion Analysis With and Without Running-Specific Prostheses, 2018 7th IEEE International Conference on Biomedical Robotics and Biomechatronics (Biorob), 556-562, 2018
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M. Harant, M. Sreenivasa, M. Millard, N. vSarabon and K. Mombaur – Optimizing Design Characteristics of Passive and Active Spinal Exoskeletons for Challenging Work Tasks, The International Symposium on Wearable Robotics (WeRob 2018), 2018
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Silvan Lindner, Benjamin Reh and Christian Seitz – Practical SFM Balancing - How acquisition parameters affect computation time and reconstruction quality, Computer Applications and Quantitive Methods in Archaeology (CAA), 2018
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M.Millard and K Mombaur – Models of foot-ground contact and muscle dynamics affect the accuracy of predicted walking motions, World Congress of Biomechanics, 2018
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M Millard, D Franklin and W Herzog – A continuous and differentiable mechanical model of muscle force and impedance, International Symposium on Wearable Robotics (WeRob2018), 2018
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M Millard, AL Kleesattel, H Harant and K Mombaur – Automatically fitting musculoskeletal models to experimental data, World Congress of Biomechanics, 2018
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K. Stein and K. Mombaur – Center of pressure and joint torque estimation for single leg slackline balancing using model-based optimization, 36th International Conference on Biomechanics in Sports 2018 (ISBS2018), September, 2018
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K. Stein and K. Mombaur – Optimization-based analysis of a cartwheel, IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2018) , August, 2018
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M. Harant, M. Sreenivasa, M. Millard, N. vSarabon 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
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Y. Hu and K. Mombaur – Influence of compliance modulation on human locomotion, IEEE, IEEE International Conference on Robotics and Automation (ICRA), 4130-4137, 2017
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Anna Lena Kleesattel, Wolfgang Potthast and Katja Mombaur – Towards a Better Understanding of Human Sprinting Motions With and Without Prostheses, IEEE-RAS International Conference on Humanoid Robots (Humanoids 2017), 158-164, 2017
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M Millard, M Sreenivasa, M Felis, K Mombaur and S Wolf – A reduced gait model for motion prediction in the clinic, 2017 Conference on Dynamic Walking, 2017
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M Millard, M Sreenivasa, P Manns and K Mombaur – Predicting human lifting motions using optimal control, Current Directions in Biomedical Engineering, TAR 2017 – Technically Assisted Rehabilitation, vol. 3, s1-s18, March, 2017
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MB Näf, L De Rijcke, CR Guerrero, M Millard, B Vanderborght and D Lefeber – Towards low back support with a passive biomimetic exo-spine, 2017 International Conference on Rehabilitation Robotics (ICORR), vol. , no. , 1165-1170, July, 2017
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P. Manns and K. Mombaur – Towards Discrete Mechanics and Optimal Control for Complex Models, Proceedings of IFACT World Congress, Jul, 2017
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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
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Anna Lena Kleesattel, Debora Clever, Johannes Funken, Wolfgang Potthast and Katja Mombaur – Modeling and Optimal Control of Able-Bodied and Unilateral Amputee Running, Proceedings of the 35th International Conference on Biomechanics in Sports, vol. 35, no. 1, 164-167, 2017
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R. M. Kopitzsch and K. Mombaur – Using spring-damper elements to support human-like push recovery motions, 26th International Conference on Robotics in Alpe-Adria-Danube Region, June, 2017, accepted
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Y. Hu and K. Mombaur – Optimal control based push recovery strategy for the iCub humanoid robot with Series Elastic Actuators, IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS), 2017 - to appear
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D. Clever and K. Mombaur – An Inverse Optimal Control Approach for the Transfer of Human Walking Motions in Constrained Environment to Humanoid Robots, Proceedings of Robotics: Science and Systems, June, 2016
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D. Clever, R. Malin Schemschat, M. L. Felis and K. Mombaur – Inverse optimal control based identification of optimality criteria in whole-body human walking on level ground, 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 1192-1199, June, 2016
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M. L. Felis and K. Mombaur – Synthesis of Full-Body 3-D Human Gait using Optimal Control Methods, IEEE International Conference on Robotics and Automation (ICRA 2016), 1560-1566, May, 2016
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M. Horn, B. Reh, F. Wenz, J. Stallkamp and K. Mombaur – Patient specific corotated FEM simulation and gelatin phantom for prostate brachytherapy, 2016 6th IEEE International Conference on Biomedical Robotics and Biomechatronics (BioRob), 341-346, June, 2016
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Y. Hu, J. Eljaik, K. Stein, F. Nori and K. Mombaur – Walking of the iCub humanoid robot in different scenarios: implementation and performance analysis, IEEE/RAS International Conference on Humanoid Robots (Humanoids), 690-696, 2016
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Y. Hu and K. Mombaur – Analysis of human leg joints compliance in different walking scenarios with an optimal control approach, Elsevier, 6th IFAC Workshop on Periodic Control Systems PSYCO, vol. 49, no. 14, 99-106, 2016
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Y. Hu, F. Nori and K. Mombaur – Squat Motion Generation for the Humanoid Robot iCub with Series Elastic Actuators, IEEE, IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), 207-212, 2016
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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, Springer, Proceedings of International Conference on Neurorehabilitation (ICNR 2016), Oct, 2016
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K. Mombaur, D. Clever and A. Schubert – Benchmarking data for human walking in different scenarios, Springer, Proceedings of International Symposum on Wearable Robotics (WeRob 2016), Oct, 2016
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Manish Sreenivasa, Matthew Millard, Paul Manns and Katja Mombaur – Optimizing Wearable Assistive Devices with Neuromuscular Models and Optimal Control, (editors: Ibáñez J., González-Vargas J., Azorín J., Akay M., Pons J. ) Springer, Cham, Converging Clinical and Engineering Research on Neurorehabilitation II. Biosystems & Biorobotics, vol. 15, 627-632, 2016
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Benjamin Reh, Christian Seitz and Sonja Speck – Seal rotation device, online / Open Access, 1 Online-Ressource (8 Seiten), 2016
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M. Schemschat, D. Clever and K. Mombaur – Model-based optimization for the design of exoskeletons that help humans to sustain large pushes while walking, Proceedings of International Conference on NeuroRehabilitation (ICNR), October, 2016
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R. M. Schemschat, D. Clever, M. L. Felis, E. Chiovetto, M. Giese and K. Mombaur – Joint Torque Analysis of Push Recovery Motions during Human Walking, Proceedings of 6th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob), June, 2016
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R. M. Schemschat, D. Clever and K. Mombaur – Optimal Push Recovery for Periodic Walking Motions, Elsevier, 6th IFAC Workshop on Periodic Control Systems PSYCO, vol. 49, no. 14, 93-98, June, 2016
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R. M. Schemschat, D. Clever and K. Mombaur – Optimization based analysis of push recovery during walking motions to support the design of lower-limb exoskeletons, Proceedings of IEEE International Conference on Simulation, Modeling, and Programming for Autonomous Robots (SimPar), December, 2016
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D. Clever and K. Mombaur – On the Relevance of Common Humanoid Gait Generation Strategies in Human Locomotion - An Inverse Optimal Control Approach, High Performance Scientific Computing (HPSC 2015) (Abstract), 2015
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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
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K.-L. Ho Hoang, D. Corradi, S. Delbasteh and K. Mombaur – Gait performance indicators for elderly humans interacting with robotic mobility assistance devices, IEEE International Conference on Rehabilitation Robotics (ICORR 2015), 758-763, August, 2015
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K.-L. Ho Hoang and K. Mombaur – Optimal Design of a Physical Assistive Device to Support Sit-to-Stand Motions, IEEE International Conference on Robotics and Automation (ICRA), 5891-5897, May, 2015
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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
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K. H. Koch and K. Mombaur – ExoOpt – a framework for patient cetered design optimization of lower limb exoskelerons, IEEE International Conference on Rehabilitation Robotics (ICORR 2015), 2015
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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, Proceedings of IEEE/RAS International Conference on Humanoid Robots, 684-689, 2015
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R. M. Schemschat, D. Clever and K. Mombaur – Analysis of Human Push Recovery based on Mathematical Models, High Performance Scientific Computing (HPSC), 2015
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Y. Hu, K. Mombaur and F. Nori – Using optimal control to generate squat motions for the humanoid robot iCub with SEA, Dynamic Walking Conference, 2015 (Extended Abstract)
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D. Clever, K. Hatz and K. Mombaur – Studying Dynamical Principles of Human Locomotion using Inverse Optimal Control, Proceedings in Applied Mathematics and Mechanics, 2014
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D. Clever and K. Mombaur – A new template model for optimization studies of human walking on different terrains, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2014), 2014
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S.-E. Fotinea, E. Ethimiou, A.-L. Dimou, T. Goulas, P. Karioris, A. Peer, P. Maragos, C. Tzafestas, I. Kokkinos, K. Hauer, K. Mombaur, I. Koumpouros and B. Stanzyk – Data Acquisition towards defining a Multimodal Interaction Model for Human-Assistive Robot Communication, (editors: C. Stephanidis and M. Antona) Universal Access in Human-Computer Interaction: Aging and Assistive Environments (UAHCI), 615-626, 2014
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M. Horn, M. Sreenivasa and K. Mombaur – Optimization model of the predictive head orientation for humanoid robots, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2014), 2014
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Y. Hu, M. L. Felis and K. Mombaur – Compliance analysis of human leg joints in level ground walking with an optimal control approach, IEEE/RAS International Conference on Humanoid Robots (Humanoids), 881-886, 2014
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K. H. Koch, K. Mombaur, P. Souères and O. Stasse – Optimization based exploitation of the ankle elasticity of HRP-2 for overstepping large obstacles, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2014), 2014
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K. H. Koch and K. Mombaur – ExoOpt - a tool for evaluating exoskeleton designs using model-based optimization, International Workshop for Wearable Robots, 2014
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K. Mombaur – An optimizaton-based study of compliance in human running, Dynamic Walking Conference 2014 (Extended abstract), 2014
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K. Mombaur – Optimization of sit to stand motions of elderly people for the design and control of physical assistive devices, Proceedings in Applied Mathematics and Mechanics, March, 2014
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A. Schubert, D. Clever and K. Mombaur – Key performance indicators for humanoid walking motions defined in the KoroiBot project, International Workshop on Wearable Robotics (WeRob 2014), 2014
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M. Benoussad, K. Mombaur and C. Azevedo – Nonlinear model predictive control of the ankle joint by Electrical Stimulation For Drop Foot Correction, IEEE International Conference on Intelligent Robots and Systems (IROS)), 2013
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T. Koolen, J. Smith, Thomas G., Bertrand S., Carff, N.and Stephen D. J. Mertins, Abeles P., J. Englsberger, S. Mccrory, J. V. Egmond, M. Griffioen, M. Floyd, S. Kobus, N. Manor, S. Alsheikh, D. Duran, L. Bunch, E. Morphis, L. Colasanto, K.-L. Ho Hoang, B. Layton, P. D. Neuhaus, M. J. Johnson and J. E. Pratt – Summary of team ihmc's virtual robotics challenge entry, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2013), 2013
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K. H. Koch, K. Mombaur and P. Souères – Optimization-based walking generation for humanoids, IFAC-SYROCO 2012, 2012
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K. Mombaur and M. Sreenivasa – HRP-2 plays the yoyo: From human to humanoid yoyo playing using optimal control, IEEE International Conference on Robotics and Automation (ICRA), May, 2010
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K. Mombaur and M. Sreenivasa – Inverse optimal control as a tool to understand human yoyo playing, ICNAAM 2010, 2010
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A. Truong, D. Flavigne, J. Pettre, K. Mombaur and J.-P. Laumond – Reactive synthesizing of human locomotion combining nonholonomic and holonomic behaviors, IEEE RAS & EMBS International Conference on Biomedical Robotics and Biomechatronics (BioRob 2010), September, 2010
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T. Lang, K. Mombaur, S. Friedmann and J. P. Schlöder – Modeling and Optimal Control of a Pogo-Leg Running Robot, Clawar 2009, September, 2009
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R. W. Longman and K. Mombaur – Iterative Learning Control in Nonlinear Systems Using State Estimation for Relinearisations, AAS/AIAA Space Flight Mechanics Meeting, 2009
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K. Mombaur, J.-P. Laumond and A. Truong – An inverse optimal control approach to human motion modeling, Springer STAR, ISRR 2009 (14th International Symposium of Robotics Research), August/September, 2009
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M. Raschke, K. Mombaur and A. Schubert – JacksonBot – Design, Simulation and Optimal Control of an Action Painting Robot, Sp LNICST, ArtsIT, September, 2009
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H. Diedam, D. Dimitrov, P. Wieber, K. Mombaur and M. Diehl – Online walking gait generation with adaptive foot position through linear model predictive control, IEEE International Conference on Intelligent Robots and Systems (IROS), 2008
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R. W. Longman, K. Mombaur and B. Panomruttanarug – Designing Iterative Learning Control Subject to Actuator Limitations using QP Methods, AIAA/AAS Astrodynamics Specialist Conference, 2008
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R. W. Longman and K. Mombaur – Implementing linear iterative learning laws in nonlinear systems, 18th AAS/AIAA Space Flight Mechanics Meeting, 2008
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K. Mombaur, J.-P. Laumond and E. Yoshida – An optimal control model unifying holonomic and nonholonomic walking, IEEE/RAS International Conference on Humanoid Robots (Humanoids 2008), 2008
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K. Berns, T. Luksch, K. Mombaur and G. Schultz – Using Optimization Techniques for the Design and Control of a Fast Biped, Clawar, 2007
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K. Mombaur – Human-Like Running Can Be Open-Loop Stable, (editors: K. Berns and T. Luksch) Springer, Autonome Mobile Systeme, 2007
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K. Mombaur, H. G. Bock, J. P. Schlöder and R. W. Longman – Stability Optimization of Periodic Walking and Running Motions, Oberwolfach Reports, no. 2, 105-107, April, 2005
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K. Mombaur, H. G. Bock, J. P. Schlöder and R. W. Longman – Open-loop stability - A new paradigm for periodic optimal control and analysis of walking mechanisms, CIS-RAM 04, December, 2004
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K. Mombaur, H. G. Bock, J. P. Schlöder and R. W. Longman – Stable Walking and Running Robots Without Feedback, Springer, Clawar 2004, 2004
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K. Mombaur, H. G. Bock, J. P. Schlöder and R. W. Longman – Stability Optimization of Periodic Mechanical Systems without Feedback, Proceedings in Applied Mathematics and Mechanics, March, 2003
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K. Mombaur, R. W. Longman, H. G. Bock and J. P. Schlöder – Stable one-legged hopping without feedback and with a point foot, IEEE International Conference on Robotics and Automation (ICRA), 2002
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K. Mombaur, H. G. Bock, J. P. Schlöder and R. W. Longman – Human-like actuated walking that is asymptotically stable without feedback, IEEE International Conference on Robotics and Automation (ICRA), 2001
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K. Mombaur, H. G. Bock and R. W. Longman – Stable, unstable, and chaotic motions of bipedal walking robots without feedback, (editors: F. L. Chernousko and A. L. Fradkov) 2nd International Conference on Control of Oscillations and Chaos, vol. 2, 282-285, 2000
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K. 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, Clawar 1998, 89-94, 1998
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Theses

Yue Hu – The role of compliance in humans and humanoid robots locomotion, April, 2017
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M. L. Felis – Modeling Emotional Aspects in Human Locomotion, July, 2015
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M. Harant – Modellierung und Optimierung von Push-Recovery Bewegungen von humanoiden Robotern, 2015
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K. H. Koch – Using Model-based Optimal Control for Conceptional Motion Generation for the Humannoid Robot HRP-2 14 and Design Investigations for Exo-Skeleton, June, 2015
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K. Mombaur – Stability Optimization of Open-loop Controlled Walking Robots, 2001
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K. D. Metzger (Mombaur) – Einsatz eines dynamischen Optimierungsverfahrens zur Muskel-kraftberechnung menschlicher Bewegungen, 1995
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Technical Report

K.H. Koch, M. Kudruss, C. Kirches and K. Mombaur – Inverse Dynamics Optimal Control of Underactuated Multi-Body Systems with Changing Constraint Sets, 12, 2014
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K. Mombaur, H. G. Bock and J. P. Schlöder – Generation and optimization of periodic gaits, 2000
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