73 citations · 223 across the 16 of their papers we have counts for
17 papers
Inertial Human Motion Capture: From Biomechanics to Recent Sensor Fusion Methods and Back
Manon Kok, Ive Weygers, Hassan Osman +4
Inertial measurement units (IMUs) are a promising means to capture human motion, yet obtaining meaningful biomechanical quantities from IMU measurements remains non-trivial. This t…
Quantifying Uncertainties of Contact Classifications in a Human-Robot Collaboration with Parallel Robots
Aran Mohammad, Hendrik Muscheid, Moritz Schappler +1
In human-robot collaboration, unintentional physical contacts occur in the form of collisions and clamping, which must be detected and classified separately for a reaction. If cert…
VQF: Highly Accurate IMU Orientation Estimation with Bias Estimation and Magnetic Disturbance Rejection
Daniel Laidig, Thomas Seel
The miniaturization of inertial measurement units (IMUs) facilitates their widespread use in a growing number of application domains. Orientation estimation is a prerequisite for m…
COMTEST Project: A Complete Modular Test Stand for Human and Humanoid Posture Control and Balance
Vittorio Lippi, Thomas Mergner, Thomas Seel +1
This work presents a system to benchmark humanoid posture control and balance performances under perturbed conditions. The specific benchmarking scenario consists, for example, of…
Collective Iterative Learning Control: Exploiting Diversity in Multi-Agent Systems for Reference Tracking Tasks
Michael Meindl, Fabio Molinari, Dustin Lehmann +1
Multi-agent systems (MASs) can autonomously learn to solve previously unknown tasks by means of each agent's individual intelligence as well as by collaborating and exploiting coll…
RIANN -- A Robust Neural Network Outperforms Attitude Estimation Filters
Daniel Weber, Clemens Gühmann, Thomas Seel
Inertial-sensor-based attitude estimation is a crucial technology in various applications, from human motion tracking to autonomous aerial and ground vehicles. Application scenario…
Observability of the relative motion from inertial data in kinematic chains
Manon Kok, Karsten Eckhoff, Ive Weygers +1
Real-time motion tracking of kinematic chains is a key prerequisite in the control of, e.g., robotic actuators and autonomous vehicles and also has numerous biomechanical applicati…
Neural Networks Versus Conventional Filters for Inertial-Sensor-based Attitude Estimation
Daniel Weber, Clemens Gühmann, Thomas Seel
Inertial measurement units are commonly used to estimate the attitude of moving objects. Numerous nonlinear filter approaches have been proposed for solving the inherent sensor fus…
A Kernel Two-sample Test for Dynamical Systems
Friedrich Solowjow, Dominik Baumann, Christian Fiedler +3
Evaluating whether data streams are drawn from the same distribution is at the heart of various machine learning problems. This is particularly relevant for data generated by dynam…
Iterative learning control in prosumer-based microgrids with hierarchical control
Lia Strenge, Xiaohan Jing, Ruth Boersma +5
Power systems are subject to fundamental changes due to the increasing infeed of renewable energy sources. Taking the accompanying decentralization of power generation into account…
Sparse Magnetometer-free Inertial Motion Tracking -- A Condition for Observability in Double Hinge Joint Systems
Karsten Eckhoff, Manon Kok, Sergio Lucia +1
Inertial measurement units are commonly used in a growing number of application fields to track or capture motions of kinematic chains, such as human limbs, exoskeletons or robotic…
Overcoming Output Constraints in Iterative Learning Control Systems by Reference Adaptation
Michael Meindl, Fabio Molinari, Jörg Raisch +1
Iterative Learning Control (ILC) schemes can guarantee properties such as asymptotic stability and monotonic error convergence, but do not, in general, ensure adherence to output c…
Magnetometer-free inertial motion tracking of arbitrary joints with range of motion constraints
Dustin Lehmann, Daniel Laidig, Raphael Deimel +1
In motion tracking of connected multi-body systems Inertial Measurement Units (IMUs) are used in a wide variety of applications, since they provide a low-cost easy-to-use method fo…
Hierarchical Event-triggered Learning for Cyclically Excited Systems with Application to Wireless Sensor Networks
Jonas Beuchert, Friedrich Solowjow, Jörg Raisch +2
Communication load is a limiting factor in many real-time systems. Event-triggered state estimation and event-triggered learning methods reduce network communication by sending inf…
Distributed Bio-inspired Humanoid Posture Control
Vittorio Lippi, Fabio Molinari, Thomas Seel
This paper presents an innovative distributed bio-inspired posture control strategy for a humanoid, employing a balance control system DEC (Disturbance Estimation and Compensation)…
Joint axis estimation for fast and slow movements using weighted gyroscope and acceleration constraints
Fredrik Olsson, Thomas Seel, Dustin Lehmann +1
Sensor-to-segment calibration is a crucial step in inertial motion tracking. When two segments are connected by a hinge joint, for example in human knee and finger joints as well a…
Design of a Networked Controller for a Two-Wheeled Inverted Pendulum Robot
Zenit Music, Fabio Molinari, Sebastian Gallenmüller +6
The topic of this paper is to use an intuitive model-based approach to design a networked controller for a recent benchmark scenario. The benchmark problem is to remotely control a…