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Lei, Q. (author), Wisse, M. (author)Grasping of unknown objects with neither appearance data nor object models given in advance is very important for robots that work in an unfamiliar environment. The goal of this paper is to quickly synthesize an executable grasp for one unknown object by using cylinder searching on a single point cloud. Specifically, a 3D camera is first used to...conference paper 2017
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Lei, Q. (author), Meijer, Jonathan (author), Wisse, M. (author)This paper identifies high-performing Open Motion Planning Library (OMPL) planners for grasp execution and simultaneously presents useful benchmark data. Four grasp executions were defined using a UR5 manipulator. The performance was measured by means of solved runs, computing time and path length. Based on the results, planners are...conference paper 2017
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Plooij, M.C. (author), Wolfslag, W.J. (author), Wisse, M. (author)This paper identifies the class of actuators called clutched elastic actuators (CEAs). CEAs use clutches to control the energy flow into springs. CEAs in exoskeletons, prostheses, legged robots, and robotic arms have shown the ability to reduce the energy consumption and motor requirements, such as peak torque and peak power. Because of those...journal article 2017
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Reducing the energy consumption of robots using the bidirectional clutched parallel elastic actuatorPlooij, M.C. (author), Wisse, M. (author), Vallery, H. (author)Parallel elastic actuators (PEAs) have shown the ability to reduce the energy consumption of robots. However, regular PEAs do not allow us to freely choose at which instant or configuration to store or release energy. This paper introduces the concept and design of the bidirectional clutched parallel elastic actuator (BIC-PEA), which reduces...journal article 2016
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Lei, Q. (author), Wisse, M. (author)The current research trends of object grasping can be summarized as caging grasping and force closure grasping. The motivation of this paper is to combine the advantage of caging grasping and force closure grasping to enable under-actuated grippers like the Lacquey gripper and the parallel grippers like the PR2 gripper to quickly grasp the...conference paper 2016
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Lei, Q. (author), Wisse, M. (author)Reducing the grasp candidates for unknown object grasping while maintaining grasp stability is the goal of this paper. In this paper, we propose an efficient and straight forward unknown object grasping method by using concavities of the unknown objects to significantly reduce the grasp candidates. Shortest path concavity is first employed to...conference paper 2016
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Van den Dobbelsteen, A.A.J.F. (author), Wisse, K. (author), Doepel, D. (author), Tillie, N.M.J.D. (author)Cities need to become independent from finite resources, among which fossil fuels. There is great potential to save energy is many cities, however the generation of power is insufficient due to the limited space as a result of urban densities. An energy source less commonly explored is reuse of waste heat from various urban functions. In that...conference paper 2013
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Bregman, D.J.J. (author), Van der Krogt, M.M. (author), De Groot, V. (author), Harlaar, J. (author), Wisse, M. (author), Collins, S.H. (author)Background In stroke and multiple sclerosis patients, gait is frequently hampered by a reduced ability to push-off with the ankle caused by weakness of the plantar-flexor muscles. To enhance ankle push-off and to decrease the high energy cost of walking, spring-like carbon-composite Ankle Foot Orthoses are frequently prescribed. However, it is...journal article 2011
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Van den Dobbelsteen, A.A.J.F. (author), Tillie, N.M.J.D. (author), Fremouw, M. (author), Wisse, K. (author), Doepel, D. (author), Genten, L. (author), Van Dorst, M.J. (author), Hobma, F.A.M. (author), Daamen, T.A. (author)Rapport in opdracht van de Gemeente Rotterdam, Projectbureau Stadshavens.report 2011
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Meijneke, C. (author), Kragten, G.A. (author), Wisse, M. (author)The Delft Hand 2 (DH-2) is an underactuated robot hand meant for industrial applications, having six degrees of freedom (DoF), one actuator (DoA) and no sensors. It was designed to provide a cheap and robust hand to grasp a large range of objects without damaging them. The goal of this paper is to assess the design and performance of the DH-2,...journal article 2011
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Wisse, M. (author), Wilbers, F. (author), Meijneke, C. (author)Artificial hand (1) suitable for robotic applications or as a prosthesis, comprising a frame (2) with a thumb (3) and at least two fingers (4,5), and having a motor drive (6) for adjusting the thumb and the fingers with respect to the frame, wherein the motor drive has a housing (7) and an axle (8) which is rotatably positioned within the...patent 2011
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Schuitema, E. (author), Caarls, W. (author), Wisse, M. (author), Jonker, P.P. (author), Babuska, R. (author)Reinforcement Learning is a promising paradigm for adding learning capabilities to humanoid robots. One of the difficulties of the real world is the presence of disturbances. In Reinforcement Learning, disturbances are typically dealt with stochastically. However, large and infrequent disturbances do not fit well in this framework; essentially,...conference paper 2010
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Vermeulen, M. (author), Wisse, M. (author)We present a design for a manipulator that is intrinsically mechanically safe, i.e. it can not cause pain (let alone damage) to a human being even if the control system has a failure. Based on the pressure pain thresholds for human skin, we derive a pinching safety constraint that limits the actuator torque, and an impact safety constraint that...journal article 2010
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Wisse, B.M. (author), Barents, R. (author), Herder, J.L. (author), Van Dorsser, W.D. (author)The invention relates to an apparatus for exerting a force on a load, comprising at least a first spring system and a second spring system, which two spring systems are coupled with the load and produce forces that are applied to the load, wherein an adjusting device is provided coupled with the load, which is equipped with at least one coupling...patent 2009
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Karssen, J.G. (author), Wisse, M. (author)Large disturbances can cause a biped to fall. If an upcoming fall can be detected, damage can be minimized or the fall can be prevented. We introduce the multi-way principal component analysis (MPCA) method for the detection of upcoming falls. We study the detection capability of the MPCA method in a simulation study with the simplest walking...journal article 2008
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Hobbelen, D.G.E. (author), Wisse, M. (author)Limit cycle walkers are bipeds that exhibit a stable cyclic gaitwithout requiring local controllability at all times during gait. A well-known example of limit cycle walking is McGeer’s “passive dynamic walking,” but the concept expands to actuated bipeds as involved in this study. One of the stabilizing effects in limit cycle walkers is the...journal article 2008
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Wisse, C.J. (author), Smeulders, D.M.J. (author), Chao, G. (author), Van Dongen, M.E.H. (author)The classical theory of wave propagation in elastic cylinders is extended to poro-elastic mandrel modes. The classical theory predicts the existence of undamped L modes and damped C, I, and Z modes. These waves also appear in poro-elastic mandrels, but all of them become damped because of viscous effects. The presence of the Biot slow bulk wave...journal article 2007
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Van Dorsser, W.D. (author), Herder, J.L. (author), Wisse, B.M. (author), Barents, R. (author)The invention relates to a balancing device for a mass, comprising an arm that is adjustable about a pivoting point and with which the mass is coupled, and an adjustable spring system that is coupled with the arm, which spring system comprises at least one spring, wherein the spring system comprises an adjusting mechanism that is connected with...patent 2007
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- Wisse, M. (author), Hobbelen, D.G.E. (author) book chapter 2007
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Galema, A.A. (author), De Jong, R.H. (author), Pruis, K.W. (author), Wisse, A. (author)Dit verslag is een rapportage van ons afstudeerproject voor de opleiding algemene Civiele Techniek aan de Noordelijke Hogeschool Leeuwarden.Dit afstudeerproject is in samenwerking met INFRAM uitgevoerd. Het onderzoek richt zich op de sterkte van grasbekleding op het binnentalud van zeedijken. Voor het beproeven van de grasmat op locatie wordt...report 2006