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Kinematic Modelling and State Estimation of Exploration Rovers
(2019-04)
[Abstract]
State estimation is crucial for exploration rovers. It provides the pose and velocity of the rover by processing measurements from onboard sensors. Classical wheel odometry only employs encoder measurements of ...
Energy-Leak Monitoring and Correction to Enhance Stability in the Co-simulation of Mechanical Systems
(2019-01)
[Abstract]
Non-iterative co-simulation is an increasingly important technique for the simulation of
complex mechanical systems. Adopting co-simulation schemes enables the simultaneous use of computational resources and ...
Skeletal-level control-based forward dynamic analysis of acquired healthy and assisted gait motion
(Springer, 2018-07-09)
[Abstract]
Gait analysis is commonly addressed through inverse dynamics. However, forward dynamics can be advantageous when descending to muscular level, as it allows that activation and contraction equations are integrated ...
Online Kinematic and Dynamic-State Estimation for Constrained Multibody Systems Based on IMUs
(Multidisciplinary Digital Publishing Institute, 2016)
[Abstract] This article addresses the problems of online estimations of kinematic and dynamic states of a mechanism from a sequence of noisy measurements. In particular, we focus on a planar four-bar linkage equipped with ...
Real-time Simulation of Cable Pay-Out and Reel-In with Towed Fishing Gears
(Elsevier, 2017-02)
[Abstract]
Achieving real-time simulation of fast cable pay-out and reel-in manoeuvres with towed fishing gears is a challenging task. This work presents two new simulation methods based on simplified cable models for ...
Load assessment and analysis of impacts in multibody systems
(2016-09)
[Abstract] The evaluation of contact forces during an impact requires the use of continuous force based methods. An accurate prediction of the impact force demands the identification of the contact parameters on a case-by-case ...
Mobility Evaluation of Wheeled Robots on Soft Terrain: Effect of Internal Force Distribution
(2016-06)
[Abstract]
Many applications of wheeled robots include operations in unstructured environments. Optimizing vehicle mobility is of key importance in these cases. Reduced mobility can limit the ability of the robot to achieve ...
Direct Sensitivity Analysis of Multibody Systems With Holonomic and Nonholonomic Constraints via an Index-3 Augmented Lagrangian Formulation With Projections
(2018)
[Abstract] Optimizing the dynamic response of mechanical systems is often a necessary step during the early stages of product development cycle. This is a complex problem that requires to carry out the sensitivity analysis ...
Assessment of Linearization Approaches for Multibodydynamics Formulations
(2017-07)
[Abstract] Formulating the dynamics equations of a mechanical system following a multibody dynamics approach often leads to a set of highly nonlinear Differential Algebraic Equations (DAEs). While this form of the equations ...
Behaviour of Augmented Lagrangian and Hamiltonian Methods for Multibody Dynamics in the Proximity of Singular Configurations
(2016-04)
[Abstract] Augmented Lagrangian methods represent an efficient way to carry out the forward-dynamics simulation of mechanical systems. These algorithms introduce the constraint forces in the dynamic equations of the system ...