Search for dissertations about: "Uwe Mettin"

Found 2 swedish dissertations containing the words Uwe Mettin.

  2. 1. Applications of the Virtual Holonomic Constraints Approach : Analysis of Human Motor Patterns and Passive Walking Gaits

    Author : Uwe Mettin; Anton Shiriaev; Umeå universitet; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Motion Planning; Humanoid Robots; Virtual Holonomic Constraints; Underactuated Mechanical Systems; Mechanical Springs; Automatic control; Reglerteknik;

    Abstract : In the field of robotics there is a great interest in developing strategies and algorithms to reproduce human-like behavior. One can think of human-like machines that may replace humans in hazardous working areas, perform enduring assembly tasks, serve the elderly and handicapped, etc. READ MORE

  4. 2. Principles for planning and analyzing motions of underactuated mechanical systems and redundant manipulators

    Author : Uwe Mettin; Anton Shiriaev; Alin Albu-Schäffer; Umeå universitet; []
    Keywords : TEKNIK OCH TEKNOLOGIER; ENGINEERING AND TECHNOLOGY; Motion Planning; Underactuated Mechanical Systems; Redundant Manipulators; Virtual Holonomic Constraints; Orbital Stabilization; Human Movement; Walking Robots; Hydraulic Manipulators; Electrical engineering; Elektroteknik; Automatic Control; reglerteknik;

    Abstract : Motion planning and control synthesis are challenging problems for underactuated mechanical systems due to the presence of passive (non-actuated) degrees of freedom. For those systems that are additionally not feedback linearizable and with unstable internal dynamics there are no generic methods for planning trajectories and their feedback stabilization. READ MORE