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Wisse, M. (author)One of the main challenges in the design of human-like walking robots (useful for service or entertainment applications as well as the study of human locomotion) is to obtain dynamic locomotion, as opposed to the static form of locomotion demonstrated by most of the current prototypes. A promising concept is the idea of passive dynamic walking;...doctoral thesis 2004
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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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De Vries, E. (author)In this paper we show a way to create stable full body motion for a humanoid robot without defining all joint trajectories in advance. The full body motion is split in a task and compensation motion. The task motion can be generated in advance, while the compensation motion is obtained during execution of the task. We show that the compensation...master thesis 2010
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De Boer, T. (author)Human walking is remarkably robust, versatile and energy-efficient: humans have the ability to handle large unexpected disturbances, perform a wide variety of gaits and consume little energy. A bipedal walking robot that performs well on all of these aspects has not yet been developed. Some robots are versatile, others are energy-efficient, and...doctoral thesis 2012
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Kiemel, S. (author)Prevention of falling is of major importance in the practical application of humanoid robots. This thesis focuses on the hip-ankle strategy as a method to maintain balance when subjected to a large disturbance. This strategy is characterised by a large rotation of the hip joint which repositions the Centre of Mass (CoM). The hip-ankle strategy...master thesis 2012
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Vissers, B.H.A. (author)When a humanoid robot is performing a certain task and is simultaneously maintaining balance, it is important that it can accurately measure its own state. The state is described by a number of variables, such as the center of mass (CoM) and the location of the feet. This information is used by the motion controllers to properly execute the task...master thesis 2012
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Van der Ven, T. (author)Currently a lot of research is performed in the field of walking robots and especially on bipedal humanoid robots. Successful walking robots have been made but there are still problems that have to be overcome to make them as versatile, robust and energy efficient as human beings. One of these problems is the control of balance after taking a...master thesis 2012
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Poddighe, R. (author), Roos, N. (author)In this paper, two alternative methods to the Inverse Kinematics problem are compared to traditional methods regarding computation time, accuracy, and convergence rate. The test domain is the arm of the NAO humanoid robot. The results show that FABRIK, a heuristic iterative approximation algorithm outperforms the two traditional methods, which...conference paper 2013
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De Souza Coelho, R. (author), Almeida, Lucas (author), Gousios, G. (author), van Deursen, A. (author)This paper reports on a study mining the exception stack traces included in 159,048 issues reported on Android projects hosted in GitHub (482 projects) and Google Code (157 projects). The goal of this study is to investigate whether stack trace information can reveal bug hazards related to exception handling code that may lead to a decrease...conference paper 2015
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Wang, X. (author)Human perception is an active process. By altering its viewpoint rather than passively observing surroundings and by operating on sequences of images rather than on a single frame, the human visual system has the ability to explore the most relevant information based on knowledge, therefore when growing up a human is able to develop cognitive...doctoral thesis 2015
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Rodrigues Espinha, T.A. (author), Zaidman, A.E. (author), Gross, Hans Gerhard (author)Web APIs provide a systematic and extensible approach for application-to-application interaction. A large number of mobile applications makes use of web APIs to integrate services into apps. Each Web API's evolution pace is determined by their respective developer and mobile application developers are forced to accompany the API providers in...conference paper 2015
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- Xu, J. (author) doctoral thesis 2015
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Klop, Wouter (author)A humanoid robot is being developed, intended to operate robustly in a typical day-to-day human environment. Its ability to react quickly to stochastic disturbances, especially its ability to avoid falling, termed stability in this context, is of prime importance. The choosing of a suitable actuator that affords such stability is seen as a...master thesis 2017
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van der Planken, Jonathan (author)In this research the role of thick flexible soles in energy-efficient humanoid walking is analyzed. It is<br/>hypothesized that, the addition of underactuated degrees of freedom under the foot gives the robot<br/>the potential to execute a pseudo-passive walking motion 1, which yields a decrease in ankle torque<br/>and energy expenditure....master thesis 2017
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Kudruss, Manuel (author), Koryakovskiy, I. (author), Vallery, H. (author), Mombaur, Katja (author), Kirches, Christian (author)Today’s humanoid robots are complex mechanical systems with many degrees of freedom that are built to achieve locomotion skills comparable to humans. In order to synthesize whole-body motions, real-tme capable direct methods of optimal control are a subject of contemporary research. To this end, Nonlinear Model Predictive Control is the method...report 2018
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Papakonstantinopoulos, Ioannis (author)Humanoid robots are becoming part of modern societies mainly involving the education and entertainment fields. Therefore, providing techniques that enable a humanoid to autonomously play instruments like the metallophone we enrich its usefulness. <br/><br/>In this work we present an approach for making humanoid robot NAO play the metallophone....master thesis 2018
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Koryakovskiy, I. (author)Reinforcement learning is an active research area in the fields of artificial intelligence and machine learning, with applications in control. The most important feature of reinforcement learning is its ability to learn without prior knowledge about the system. However, in the real world, reinforcement learning actions may lead to serious damage...doctoral thesis 2018
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Boumans, R.J.L. (author), van Meulen, Fokke (author), Hindriks, K.V. (author), Neerincx, M.A. (author), Olde Rikkert, Marcel (author)Patient reported outcome measures (PROMs) are an essential means for collecting information on the effectiveness of hospital care as perceived by the patients themselves. Especially older adult patients often require help from nursing staff to successfully complete PROMs, but this staff already has a high work load. Therefore, a social robot...journal article 2019
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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
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Folmer, Martijn (author)Programming robots with verbal commands is limited by the capabilities of the utilized natural language parser. A simple natural language parser which can understand only keywords and small phrases may be easy to use, but limited in what it can interpret and convey. Alternatively, a natural language parser which understands more complex commands...master thesis 2020
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