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Active Control for an Offshore Crane Using Prediction of the Vessel’s Motion
During offshore installations in harsh sea conditions, the involved crane system must satisfy rigorous requirements in terms of safety and efficiency. The forces resulting from the vertical motion ofExpand
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A heave compensation approach for offshore cranes
Offshore installations during harsh sea conditions results in rigorous requirements in terms of safety and efficiency for the involved crane system. Hence a heave compensation system based on heaveExpand
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A variable curvature modeling approach for kinematic control of continuum manipulators
Continuum manipulators are continuously bending robots consisting of an infinite number of kinematic degrees of freedom (DOF). To reduce the number of actuators, the manipulators are designed in aExpand
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Dynamic modeling of constant curvature continuum robots using the Euler-Lagrange formalism
Dynamic models of continuum manipulators tend to become very complex, especially for spatial manipulators with multiple sections. Therefore a practicable model is needed that can be used forExpand
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Forward kinematics of a compliant pneumatically actuated redundant manipulator
The Bionic Handling Assistant is a compliant, pneumatically actuated continuum manipulator designed to be used for cooperative manipulation. In 2010, it won the German Federal Presidents prize forExpand
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A Nonlinear Control Strategy for Boom Cranes in Radial Direction
To increase the effectiveness of the cargo transshipment process is one of the most important objectives for the automation of cranes. Therefore new control strategies are applied. This paperExpand
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Crane control with active rough sea
Crane control active for a rough sea, arranged on a floating body crane comprising a lifting mechanism for lifting a suspended load by a rope, with a measuring device which determines a current heaveExpand