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Steeneken, P.G. (author)Motion is all around us, the universe is full of moving matter and this motion is surprisingly predictable. The field of science and engineering that studies time-dependent motion in the presence of forces is called Dynamics. In this book we will introduce the core concepts in dynamics and provide a comprehensive toolset to predict and analyse...book 2024
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Hughes, Josie (author), Stella, F. (author), Della Santina, C. (author), Rus, Daniela (author)Shape estimation of soft robotic systems is challenging due to the range of deformations that can be achieved, and the limited availability of physically compatible sensors. We propose a method of reconstruction using Inertial Measurement Units (IMUs), which are mounted on segments of a deformable manipulator. This approach utilizes the...book chapter 2021
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Yuan, Tianyun (author), Song, Yu (author), Goossens, R.H.M. (author), Kraan, G.A. (author)Studies on finger kinematics, especially the range of motion (RoM) measurements, are essential to understand the use of finger joints and the pathology of related disease. Limited literatures compared the active RoM (A-RoM) of finger joints with either their functional RoM (F-RoM) or passive RoM (p-RoM) using different measuring protocols and...book chapter 2024
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Festa, D. (author), Broere, W. (author), Bosch, J.W. (author)When a Tunnel Boring Machine (TBM) is driven in soft soil, the TBM-shield constantly interacts with the surrounding soil profile excavated by the cutting wheel. The interaction pattern of shield-soil interface displacements determines compression and extension sectors in the surrounding soil. Soil compression is generated when the shield...conference paper 2013
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Calvert, S.C. (author), Snelder, M. (author), Taale, H. (author), Van Wageningen-Kessels, F.L.M. (author), Hoogendoorn, S.P. (author)In this contribution a model-based analysis of the application of bounded acceleration in traffic flow is considered as a cause for the capacity drop. This is performed in a Lagrangian formulation of the kinematic wave model with general vehicle specific characteristics. Unconstrained overtaking is presumed, which allows a demonstration to be...conference paper 2015
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Festa, D. (author), Broere, W. (author), Bosch, J.W. (author)Constructing tunnels in soft soil with the use of Tunnel Boring Machines may induce settlements including soil movements ahead of the face, soil relaxation into the tail void, possible heave due to grouting, long lasting consolidation processes, and potentially several other mechanisms. A considerable amount of the total soil displacements seems...conference paper 2013
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Van der Slikke, R.M.A. (author), Berger, M.A.M. (author), Bregman, D.J.J. (author), Veeger, H.E.J. (author)Accurate knowledge of wheelchair kinematics during a match could be a significant factor in performance improvement in wheelchair basketball. To date, most systems for measuring wheelchair kinematics are not suitable for match applications or lack detail in key kinematic outcomes. This study describes the construction of wheel skid correction...conference paper 2015
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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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van der Graaff, E (author), Hoozemans, M (author), Nijhoff, M. (author), Davidson, M (author), Hoezen, M (author), Veeger, H.E.J. (author)The objective of the present study was to examine the relative timing of pelvis and thorax rotations in achieving high throwing velocities in baseball pitching. During the preseason, a kinematic analysis was performed on eight pitchers. Peak angular velocities of the pelvis and thorax were determined and separation, defined as the time between...conference paper 2016
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- van der Gun, J.P.T. (author), Pel, A.J. (author), van Arem, B. (author) conference paper 2015
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Mishra, A. (author), Rajan, R.T. (author)Given a network of N static nodes in D-dimensional space and the pairwise distances between them, the challenge of estimating the coordinates of the nodes is a well-studied problem. However, for numerous application domains, the nodes are mobile and the estimation of relative kinematics (e.g., position, velocity and acceleration) is a...conference paper 2022
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van der Slikke, R.M.A. (author), Berger, Monique (author), Bregman, D.J.J. (author), Veeger, H.E.J. (author)Short sprints are important components of most wheelchair court sports, since being faster than the opponent often determines keeping ball possession or not. Sprinting capacity is best measured during a field test, allowing the athlete to freely choose push strategies adapted to their own wheelchair setting, physical ability, classification...conference paper 2016
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Yun, Joongsup (author), Anderson, David (author), Fioranelli, F. (author)This paper presents parametric investigation results on a staring FMCW radar system which targets drone swarms. The parametric investigation has been carried out by using the RAPID-SIM which facilitates system-level analysis of drone swarms' radar signatures. This paper explains concepts of the simulator's each module and also covers two...conference paper 2020
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Pollayil, Mathew Jose (author), Della Santina, C. (author), Mesesan, George (author), Englsberger, Johannes (author), Seidel, Daniel (author), Garabini, Manolo (author), Ott, Christian (author), Bicchi, Antonio (author), Albu-Schaffer, Alin (author)Embedding elastic elements into legged robots through mechanical design enables highly efficient oscillating patterns that resemble natural gaits. However, current trajectory planning techniques miss the opportunity of taking advantage of these natural motions. This work proposes a locomotion planning method that aims to unify traditional...conference paper 2022
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Bos, F.R.R.C. (author), Anil Meera, A. (author), Benders, D. (author), Wisse, M. (author)The free energy principle from neuroscience provides a brain-inspired perception scheme through a data-driven model learning algorithm called Dynamic Expectation Maximization (DEM). This paper aims at introducing an exper-imental design to provide the first experimental confirmation of the usefulness of DEM as a state and input estimator for...conference paper 2022
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van der Kruk, E. (author), van der Helm, F.C.T. (author), Schwab, A.L. (author), Veeger, H.E.J. (author)Pushoff in speed skating requires an extensive motion strategy. During speed skating the skater continuously changes the lean and steering angle of the skate and therewith the direction of push-off, The forces in an inertial coordinate system can give insight into what amount of the push-off force is directed into the forward motion. In this...conference paper 2016
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Rosi, Emanuele Riccardo (author), Stölzle, Maximilian (author), Solari, Fabio (author), Della Santina, C. (author)The nature of continuum soft robots calls for novel perception solutions, which can provide information on the robot's shape while not substantially modifying their bodies' softness. One way to achieve this goal is to develop innovative and completely deformable sensors. However, these solutions tend to be less reliable than classic sensors for...conference paper 2022
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Tao, T. (author), Roy, S. (author), Baldi, S. (author)This work introduces a new single-stage adaptive controller for Euler-Lagrange systems with nonholonomic constraints. The proposed mechanism provides a simpler design philosophy compared to double-stage mechanisms (that address kinematics and dynamics in two steps), while achieving analogous stability properties, i.e. stability of both original...conference paper 2022
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Gienger, Michael (author), Ruiken, Dirk (author), Bates, T. (author), Regaieg, Mohamed (author), Meibner, M. (author), Kober, J. (author), Seiwald, Philipp (author), Hildebrandt, Arne Christoph (author)This paper presents a system for cooperatively manipulating large objects between a human and a robot. This physical interaction system is designed to handle, transport, or manipulate large objects of different shapes in cooperation with a human. Unique points are the bi-manual physical cooperation, the sequential characteristic of the...conference paper 2018
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- De Groot, J.H. (author) doctoral thesis 1998