Dr. rer. nat. Debora Clever


Since 10/2018 Guest professor for Robotics at the Institute for Mechatronic Systems in Mechanical Engineering, Technischen Universität Darmstadt

Since 10/2016 Scientist in the research group Robotics and Automation at ABB AG, Corporate Research Center, Ladenburg

10/2013 – 09/2016 Scientific researcher (Post Doc) in the group Optimization in Robotics and Biomechanics (ORB), at the Interdisciplinary Center for Scientific Computing (IWR), Heidelberg University

21.01.2013 PhD from Technische Universität Darmstadt (Dr. rer. nat.), Thesis: Adaptive Multilevel Methods for PDAE-Constrained Optimal Control Problems

04/2006 – 09/2013 Scientific researcher (PhD student and Post Doc) in the group Numerical Analysis and Scientific Computing at the Department of Mathematics, Technische Universität Darmstadt

17.03.2006 Diploma in Mathematics (Dipl.-Math.), Thesis: Optimalsteuerung für die Abkühlung von Glas (Optimal Control for Glass Cooling)

10/2001 – 03/2006 Diploma studies in Techno-Mathematics at Technische Universität Darmstadt (Key aspects: Mathematics, Computer Science, Control)

02.03.2005 Bachelor of Science (B.Sc.), Thesis: Abstandsberechnung im dreidimensionalen Raum unter Verwendung von impliziten Funktionen (Distance computation in three dimensional space using implicit functions)

10/2001 – 03/2005 Bachelor studies Mathematics with Computer Science at Technische Universität Darmstadt (interdisciplinary bilingual study program)

Movement Primitive based Robot Motion Generation:

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 and its Transfer to the Real Robot HRP-2, IEEE Robotics and Automation Letters, vol. 2, no. 2, 977 – 984, 2017

As an extension of the following paper, applying the theory to the real robot HRP-2:

D. Clever, M. Harant, K. H. Koch, K. Mombaur, D. 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 and Autonomous Systems, vol. 83, 287 – 298, 2016

Template Model (Simplified Mechanical System) based Robot Motion Generation:

D. Clever, Y. Hu, K. Mombaur: Humanoid Gait Generation in Complex Environments Based on Optimality Principles Learned from Humans, https://doi.org/10.1177/0278364918765620, International Journal of Robotics Research, 2018

As an extension of the following paper, applying the theory to the real robot iCub:

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 (RSS), 2016

Inverse Optimal Control:

K. Mombaur and D. Clever: Inverse Optimal Control as a Tool to Understand Human Movement, Geometric and Numerical Foundations of Movements, Springer Tracts in Advanced Robotics (STAR), 163 – 186, 2017

Optimal Control for Partial Differential Equations in the Context of Glass Cooling:

D. Clever: Adaptive Multilevel Methods for PDAE-Constrained Optimal Control Problems, Dissertation, Technische Universität Darmstadt, Verlag Dr. Hut, ISBN 978-3-8439-0878-8, München, 2013