Annual Report 2016 - Mechanical Engineering

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Applied Mechanics 227
Applied Mechanics
Development, simulation and experimental investigation of complex dynamical and mechatronical systems
Prof. dr. ir. Daniel Rixen
n The Institute of Applied Mechanics is a leading research center in the
dynamics of mechanical and robotic systems. The core of its activities
focus on the development of novel simulation and experimental tech-
niques for efficient analysis of complex structural dynamics, and on the
design, construction and control of advanced robotic machines.
Mechatronics is the combination of
mechanical, electrical and informatics
systems. A focus of this field lies on the
actuation of multibody dynamical sys-
tems and vibrating structures in order to
achieve specific functions. One example
of such systems are robots which are
investigated at our institute.
Our institute has a long tradition in
designing, constructing and controlling
robots for novel applications. Based on
our experience in autonomous legged
robots, our institute has developed a high
performance humanoid robot (LOLA) in
recent years.
The research is by nature multidisciplinary
and aims at enabling versatile and robust
walking in unknown terrain. It includes
image processing allowing for real-time
planning and obstacle avoidance, but also
advance planning strategies in a cluttered
and changing environment. An important
aspect is to ensure robust walking control
to account for unseen disturbances and
model imperfections.
New research includes the comparison of
human gate strategies and multi-contact
motion approaches.
New research has been started on the
dynamics of drive simulators and on
advanced motion-cueing algorithms. The
challenge here is to optimize the motion
rendering in modern drive-simulator such
that the impressions experienced by the
test person are realistic for a wide range of
driving conditions.
We also cooperate with the Department
of Orthopedics and Sports Orthopedics,
to investigate the application of robotic
manipulators to investigate the range of
movement of human joints. In particular
we investigate complaint motion control in
Robotics and Mechatronics
Phone +49.89.289.15220
Contact
The research is organized in three focus
areas: Robotics and Mechatronics,
Dynamic Simulation and Numerical
Techniques, and Experimental Dynamics.
Each research group bundles specific
expertise, monitors international advances
and actively discusses the future research
directions.
Efficient modelling of obstacles
and surfaces using swept-sphere
volumes for real-time step
planning