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    Modeling, sensing, and control for agile trajectory tracking of soft robots
    (2026)
    Grube, Malte
    ;
    Seifried, Robert
    Accurate, agile trajectory tracking is important for modern soft robotic applications. This requires models that accurately represent dynamic behavior, soft sensors for state estimation, and dynamic controllers. In this work, first, different model-based and data-driven modeling approaches for soft robots are presented and evaluated in terms of accuracy and efficiency. Second, curvature sensors that can be integrated into the soft robot body to measure its configuration are presented and evaluated experimentally. Third, feedforward and feedback control approaches for soft robots are presented and evaluated in simulations and experiments.
    Publicationtype: Doctoral Thesis
      118  75
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    Adaptive isogeometric impact models in flexible multibody systems
    (2025)
    Rückwald, Tobias
    ;
    Seifried, Robert
    Usually, detailed impact simulation models within flexible multibody systems have to be set up manually rather than being generated automatically. This is because the process requires prior knowledge of the time and location of the impact, as well as the element resolution within the contact area. If the penalty method is used to determine the occurring contact forces, the corresponding penalty factor also needs to be determined manually. This thesis presents an adaptive procedure to simulate impacts within flexible multibody systems fully automatically using reduced models based on the isogeometric analysis (IGA), the floating frame of reference formulation, and quasistatic contact models for an efficient but still accurate simulation.
    Publicationtype: Doctoral Thesis
      104  67
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    A new computational method for the fluid-structure interaction in random nonlinear ocean waves
    (2025)
    Hollm, Marten
    ;
    Seifried, Robert
    An efficient computation of the fluid-structure interaction (FSI) between mechanical structures and ocean waves is an important topic in many ocean engineering and naval architecture applications. However, the numerical computation of the FSI is often very expensive. In this work, a new method is developed to calculate the FSI in random nonlinear ocean waves more efficiently. The corresponding approach is based on the nonlinear Schrödinger equation, which can be solved numerically efficiently. The new method to calculate the FSI in random nonlinear ocean waves is investigated concerning its application areas, accuracy, stability, and computational efficiency.
    Publicationtype: Doctoral Thesis
      74  86
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      76
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    Control strategies for flexible link parallel robots
    (2023)
    Morlock, Merlin
    ;
    Seifried, Robert
    This research contributes to the field of flexible link parallel robots by showing how a variety of inherent control problems of such robots can be solved. Since the focus lies on promising techniques, well-established approaches are adapted to these robots. The proposed methods are experimentally validated within realistic scenarios. These confirm the need for modern controllers based on flexible multibody models as in most cases they significantly outperform controllers based on classical rigid multibody models.
    Publicationtype: Doctoral Thesis
      144  78
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    Systematic design of particle dampers for passive vibration attenuation
    (2023)
    Meyer, Niklas Joachim
    ;
    Seifried, Robert
    The nonlinear damping behavior of particle dampers and the multitude of influence parameters hinder their wide industrial usage. Hence, the goal of this work is the development of a new design methodology in form of a toolchain enabling a systematic damper design. On that account, various numerical models and experimental tests are combined. The toolchain commences with investigations of the micro-mechanical behavior of single particle impacts, continues with analyzing the properties of vibrating granular matter inside different containers and ends with designing a particle damper for a desired vibrating structure. The good agreement of the experimental and numerical models and their efficiency for the damper design and dimensioning are demonstrated on multiple examples.
    Publicationtype: Doctoral Thesis
      233  3791
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    Servo-constraints for inversion of underactuated multibody systems
    (2022)
    Drücker, Svenja
    ;
    Seifried, Robert
    Accurate inverse models are essential for the control of underactuated multibody systems. The servo-constraints approach is applied here, which formulates the inverse model problem as a set of differential-algebraic equations (DAEs). These DAEs have different properties depending on the system type. In this work, the servo-constraints approach is analyzed for all three possible system types. For differentially flat systems, experimental results demonstrate the real-time capabilities of the approach. For minimum phase systems, various integration methods are compared with respect to efficiency and accuracy. For non-minimum phase systems, a simplification of stable inversion is proposed and an output redefinition strategy is introduced for flexible bodies.
    Publicationtype: Doctoral Thesis
      505  1859
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    Effiziente Kontaktberechnung in flexiblen Mehrkörpersystemen
    (2020)
    Tschigg, Stephan
    ;
    Seifried, Robert
    For efficient and accurate impact analysis, reduced flexible multibody systems can be used. To capture the stresses and deformations in the colliding bodies precisely, an elastic description of the body using a set of eigenmodes and static shape functions has to be used. The latter are necessary to capture the local deformation effects in the contact area. However, they introduce artificial eigenfrequencies of very high magnitude to the reduced system and therefore, the numerical efficiency is reduced. In this thesis two approaches for efficient contact simulation using reduced flexible multibody systems are presented. In the first approach, the artificial eigenfrequencies are damped. In the second approach they are neglected in the dynamic simulation. To verify these two approaches, detailed finite element simulations and experiments are used.
    Publicationtype: Doctoral Thesis
      621  912