Searched for: contributor:"Wisse, Martijn (graduation committee)"
(1 - 14 of 14)
document
SHARMA, Sparsh (author)
The increasing complexity of mechanical systems has resulted in an increased usage and dependence on data driven modelling techniques in order to obtain simple yet accurate models of these systems. Neural networks have emerged as a popular modelling choice due to their proven ability to learn complex nonlinear relationships between inputs and...
master thesis 2019
document
Bosma, Stijn (author)
A repetitive motion system supporting nano meter precision is positioned at high accelerations, which produces a force that disturbs the demanded accuracy requirements. Iterative learning control is used to learn optimal feedforward control signals for the attenuation this disturbance force. The iterative method comes with a limitation, as it...
master thesis 2019
document
van Hofslot, Boris (author)
This research considers using center of mass (CoM) height variation as an input for balance control on a humanoid robot. Traditional balance strategies for humanoid robots are taking a step, control of the center of pressure (CoP) location, a result of the ‘ankle strategy’, and changing the angular momentum about the CoM, for example by a ‘hip...
master thesis 2019
document
de Jong, Tobias (author)
Enabling mobile robots to autonomously navigate complex environments is essential for real-world deployment in commercial, industrial, military, health care, and domestic settings. Prior methods approach this problem by having the robot maintain an internal map of the world and then use a localization and planning method to navigate through the...
master thesis 2019
document
Hoogerwerf, Eert (author)
Human-robot collaboration can be improved if the motions of the robot are more legible and predictable. This can be achieved by making the motions more human-like. It is assumed that humans move optimal with respect to a certain objective or cost function. To find this function an inverse optimal control approach is developed. It uses a bilevel...
master thesis 2018
document
Tsutsunava, Nick (author)
Kinodynamic planning is motion planning in state space and aims to satisfy kinematic and dynamic constraints. To reduce its computational cost, a popular approach is to use sampling based methods such as RRT with off-line machine learning for estimating the steering cost and inputs. However, scalability and robustness are still open challenges...
master thesis 2018
document
van der Schaaf, J.B.J. (author)
Gait rehabilitation attempts to alleviate gait and balance impairments caused by spinal cord injury. Conventional gait rehabilitation often includes unloading a portion of the user’s weight with a vertical force. This vertical force enables people to practice stepping but makes forward propulsion more difficult. Users will adopt a compensatory...
master thesis 2018
document
Voordouw, Janneke (author)
In this research the influence of the rower behavior and rigging setup on the boat performance is investigated in a data-driven model. There are different rowing styles and techniques between rowers. Making rowers row in synchrony, while important for the boat performance, is not easy. Rowers have their own signature rowing curve, of which only...
master thesis 2018
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Peuchen, Robert (author)
Body weight support (BWS) systems are widely used in gait rehabilitation. These systems allow patients to gradually increase training intensity and promote independent walking. Currently, there is no standardized method to assess the performance of BWS systems. This work proposes methods and metrics that can be used to assess and compare any...
master thesis 2018
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Apte, Salil (author)
master thesis 2017
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Neven, Job (author)
Nowadays, the number of robotic systems grows enormously. In order to execute their task, many of these robots need a fixturing gripper to grasp and hold objects. To reduce the environmental impact, the operational costs, the size of actuators and to improve the uptime of mobile robots, it becomes increasingly important to design robots for a...
master thesis 2017
document
van der Spaa, Linda (author)
Current robots consume a lot of energy. The work required for a task is generally just a tiny fraction of the total energy consumed. Most energy wastefully dissipated. Design of the 2 degree of freedom (DoF) Plugless Robot Arm shows that clever design can reduce these energy losses to a tiny remaining fraction. The Plugless Arm is designed to...
master thesis 2017
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Rastogi, Divyam (author)
Reinforcement Learning (RL) is a general purpose framework for designing controllers for non-linear systems. It tries to learn a controller (policy) by trial and error. This makes it highly suitable for systems which are difficult to control using conventional control methodologies, such as walking robots. Traditionally, RL has only been...
master thesis 2017
document
de Geus, Marijke (author)
The focus of this project is two-fold: first it explores how animation can be used to make functional robots more intuitively understandable. A framework for functional robot developers, to apply animations in the designed behaviours of their products, is proposed. Second, it demonstrates the value of the incorporation of animated behaviours, as...
master thesis 2017
Searched for: contributor:"Wisse, Martijn (graduation committee)"
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