GAMM2025

Session

PP01: Daring More Intelligence – Design Assistants in Mechanics and Dynamics

PP01

8 Apr 2025, 14:00

Lecture and Conference Centre

Conveners

PP01: Daring More Intelligence – Design Assistants in Mechanics and Dynamics: PP01.01

• Mario Rosenfelder
• Kristin de Payrebrune

719. Design Optimization of Soft Robots Based on Workspace Constraints

Leon Schindler

08/04/2025, 14:00

Soft robots have emerged as a subclass of continuum robots as a young research field in robotics. These soft robots are made from soft materials and can undergo large continuous deformations. Our study considers soft pneumatic actuators (SPA) with a slender cylindrical structure. The continuous deformations of soft robots are advantageous, however, the description of this behavior is highly...

720. Koopman Based Trajectory Optimization with Periodic Boundaries for Co-Design

Maximilian Raff

08/04/2025, 14:20

Designing mechanisms and machines that execute periodic motions typically requires considerations of speed and energy efficiency. This is a challenging task due to the deep interdependence created by the mechanical dynamics between the hardware (morphology) and the control (motion). The co-design of such mechatronic systems involves the simultaneous and integrated development of both the...

721. Surrogate-based Robust Tracking Controller for a Lambda Robot

Sanam Hajipour Talkouei

08/04/2025, 14:40

Tracking control of multibody systems typically requires a deep understanding of system kinematics and dynamics. For closed-loop mechanisms, however, this becomes challenging, which is why this study introduces a novel method that utilizes artificial intelligence (AI) to simplify the process, making it possible to achieve effective trajectory control with minimal technical expertise [1].

A...

722. A constraint-satisfying neural network architecture for the generation of Grashof fulfilling four-bar linkages

Benedict Röder

08/04/2025, 15:00

After decades of research, four-bar linkages are still an active research topic in engineering, as they can convert a rotary motion into a linear or other, more complex motion if carefully designed. One of the central theorems relating to four-bar linkages is Grashof's law. Based on the four given link lengths, this law dictates the resulting mechanism type and its behaviour, e.g.,...

723. Model Predictive Path-Following Control of a Quadrotor

David Leprich

08/04/2025, 15:20

The growing use of quadrotors in fields like delivery services, infrastructure inspection, industrial agriculture, and surveillance has increased the demand for their autonomous capabilities, including path-following control. Existing methods, such as backstepping, feedback linearization, and learning-based techniques like deep learning, have proven effective. The present work novelly uses...

724. Optimization-based design assistance for planning of stereotactic surgeries with curved cannulae

Kathrin Flaßkamp

08/04/2025, 15:40

Concentric tube continuum robots (CTCRs) allow to consider minimally invasive deep brain surgeries which could not be realized with straight cannulas and manual surgery planning, as it is state of the art. We present a design assistant for finding personalized tube configurations (e.g. thicknesses and precurvatures of the nested cannulae) for the CTCR and an automated path planning. The core...