Institute of Engineering and Computational Mechanics

The Institute of Engineering and Computational Mechanics focuses on questions relating to Technical Dynamics. This is the guideline for many research projects and courses. The research work of the institute is dedicated to technical dynamics in the broadest sense. In the course of time, changing focal points have developed. The research areas include multibody systems, contact mechanics, mechatronics, driving safety and uncertainties.

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131 to 140 of 301 Results

Y3.txt Mar 20, 2026 - Differential-Drive Robot Data Sets and Reference Trajectories for EDMD Plain Text - 9.6 KB - MD5: d26ef5a759d6be1e388d42d52b5e7abb
Y3.txt Mar 20, 2026 - Differential-Drive Robot Data Sets and Reference Trajectories for EDMD Plain Text - 119.0 KB - MD5: d13976d5669fceb6912ac8fb9348f978
Y.txt Mar 20, 2026 - Differential-Drive Robot Data Sets and Reference Trajectories for EDMD Plain Text - 1.4 MB - MD5: a89b95fd221f970664b43edf0d7490df
Y.txt Mar 20, 2026 - Differential-Drive Robot Data Sets and Reference Trajectories for EDMD Plain Text - 2.2 MB - MD5: a8d36c087b57bcc7d6d85f78a261e4cb
Visualization of Possibilistic Filtering for Reliable Robot Localization Mar 12, 2026 Schneider, Jan; Könecke, Tom; Ebel, Henrik; Hanss, Michael, 2026, "Visualization of Possibilistic Filtering for Reliable Robot Localization", https://doi.org/10.18419/DARUS-5775, DaRUS, V1, UNF:6:Mo5+xjoqon3ZpoGoKUo/Eg== [fileUNF] The video presents experimental results of a possibilistic filter applied to a real-world robot localization task using a particle-based implementation. The objective is to identify possible robot states based on the underlying dynamics and angular measurements obtained from a fisheye camera, which determines the robot’s orientation relative to fou...
Possibilistic_Particle_Filter_Robot_Localization.mp4 Mar 12, 2026 - Visualization of Possibilistic Filtering for Reliable Robot Localization MPEG-4 Video - 47.1 MB - MD5: 23bd2667a25bd69456b3268e25017864 Experimental results of the proposed robot localization problem. The true state is shown in blue, while the possibilistic estimates are represented as particles, with their corresponding membership values indicated by a heatmap.
State_and_Measurement_Data.csv Mar 12, 2026 - Visualization of Possibilistic Filtering for Reliable Robot Localization Tabular Data - 95.6 KB - 11 Variables, 579 Observations - UNF:6:Mo5+xjoqon3ZpoGoKUo/Eg== The measurement data from the experiment shown in the video is provided. In the experiment, the HERA robot is driven through an environment while its true position, given as x, y, z, is recorded as ground-truth reference. The robot is controlled using velocity commands v_x, v_y, and v_theta, and measures its orientation relative to four landmarks d...
Experimental Video of Industrial Pick-and-Place Delta Robot used for Sparse Identification of Residual Dynamics Feb 27, 2026 Rodegast, Philipp; Gesell, Jakob; Fehr, Jörg, 2026, "Experimental Video of Industrial Pick-and-Place Delta Robot used for Sparse Identification of Residual Dynamics", https://doi.org/10.18419/DARUS-5738, DaRUS, V1 This repository contains a video demonstration of the delta robot used in our publication. The video showcases the robot performing a typical pick-and-place motion without payload. In the associated paper, we applied a SINDy-like method to perform sparse regression on the residual dynamics and friction of the robot. The approach uses a nominal mode...
Delta_pickandplace.mp4 Feb 27, 2026 - Experimental Video of Industrial Pick-and-Place Delta Robot used for Sparse Identification of Residual Dynamics MPEG-4 Video - 968.3 KB - MD5: 7b50ab46650803a1a7e9900dba60127f The video showcases the robot performing a typical pick-and-place motion without payload. In the associated paper, we applied a SINDy-like method to perform sparse regression on the residual dynamics and friction of the robot. The approach uses a nominal model and measurement data collected from the robot to identify unaccounted dynamics, enhancing...
Experiment Videos on Setpoint Stabilization of Nonholonomic Mobile Robots and Their Formations Using Geometry-Conforming Model Predictive Control Feb 4, 2026 Rosenfelder, Mario; Ebel, Henrik; Eberhard, Peter, 2026, "Experiment Videos on Setpoint Stabilization of Nonholonomic Mobile Robots and Their Formations Using Geometry-Conforming Model Predictive Control", https://doi.org/10.18419/DARUS-5706, DaRUS, V1 The provided videos document experimental results on setpoint stabilization of various wheeled mobile robots and their formations using tailored model predictive control (MPC) schemes. The controllers are formulated at the kinematic level, i.e., they employ kinematic models of the robots to predict their future behavior and use the robots' velociti...

Y3.txt

Mar 20, 2026 - Differential-Drive Robot Data Sets and Reference Trajectories for EDMD

Plain Text - 9.6 KB -

Y3.txt

Mar 20, 2026 - Differential-Drive Robot Data Sets and Reference Trajectories for EDMD

Plain Text - 119.0 KB -

Y.txt

Mar 20, 2026 - Differential-Drive Robot Data Sets and Reference Trajectories for EDMD

Plain Text - 1.4 MB -

Y.txt

Mar 20, 2026 - Differential-Drive Robot Data Sets and Reference Trajectories for EDMD

Plain Text - 2.2 MB -

Visualization of Possibilistic Filtering for Reliable Robot Localization

Mar 12, 2026

Schneider, Jan; Könecke, Tom; Ebel, Henrik; Hanss, Michael, 2026, "Visualization of Possibilistic Filtering for Reliable Robot Localization", https://doi.org/10.18419/DARUS-5775, DaRUS, V1, UNF:6:Mo5+xjoqon3ZpoGoKUo/Eg== [fileUNF]

The video presents experimental results of a possibilistic filter applied to a real-world robot localization task using a particle-based implementation. The objective is to identify possible robot states based on the underlying dynamics and angular measurements obtained from a fisheye camera, which determines the robot’s orientation relative to fou...

Possibilistic_Particle_Filter_Robot_Localization.mp4

Mar 12, 2026 - Visualization of Possibilistic Filtering for Reliable Robot Localization

MPEG-4 Video - 47.1 MB -

Experimental results of the proposed robot localization problem. The true state is shown in blue, while the possibilistic estimates are represented as particles, with their corresponding membership values indicated by a heatmap.

State_and_Measurement_Data.csv

Mar 12, 2026 - Visualization of Possibilistic Filtering for Reliable Robot Localization

Tabular Data - 95.6 KB - 11 Variables, 579 Observations -

The measurement data from the experiment shown in the video is provided. In the experiment, the HERA robot is driven through an environment while its true position, given as x, y, z, is recorded as ground-truth reference. The robot is controlled using velocity commands v_x, v_y, and v_theta, and measures its orientation relative to four landmarks d...

Experimental Video of Industrial Pick-and-Place Delta Robot used for Sparse Identification of Residual Dynamics

Feb 27, 2026

Rodegast, Philipp; Gesell, Jakob; Fehr, Jörg, 2026, "Experimental Video of Industrial Pick-and-Place Delta Robot used for Sparse Identification of Residual Dynamics", https://doi.org/10.18419/DARUS-5738, DaRUS, V1

This repository contains a video demonstration of the delta robot used in our publication. The video showcases the robot performing a typical pick-and-place motion without payload. In the associated paper, we applied a SINDy-like method to perform sparse regression on the residual dynamics and friction of the robot. The approach uses a nominal mode...

Delta_pickandplace.mp4

Feb 27, 2026 - Experimental Video of Industrial Pick-and-Place Delta Robot used for Sparse Identification of Residual Dynamics

MPEG-4 Video - 968.3 KB -

The video showcases the robot performing a typical pick-and-place motion without payload. In the associated paper, we applied a SINDy-like method to perform sparse regression on the residual dynamics and friction of the robot. The approach uses a nominal model and measurement data collected from the robot to identify unaccounted dynamics, enhancing...

Experiment Videos on Setpoint Stabilization of Nonholonomic Mobile Robots and Their Formations Using Geometry-Conforming Model Predictive Control

Feb 4, 2026

Rosenfelder, Mario; Ebel, Henrik; Eberhard, Peter, 2026, "Experiment Videos on Setpoint Stabilization of Nonholonomic Mobile Robots and Their Formations Using Geometry-Conforming Model Predictive Control", https://doi.org/10.18419/DARUS-5706, DaRUS, V1

The provided videos document experimental results on setpoint stabilization of various wheeled mobile robots and their formations using tailored model predictive control (MPC) schemes. The controllers are formulated at the kinematic level, i.e., they employ kinematic models of the robots to predict their future behavior and use the robots' velociti...

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