Koen Classens
Eindhoven University of Technology, University of Canterbury
Papers
3
Total Citations
25
H-Index
3
About
Koen Claessens is a robotics researcher specializing in the dynamical modeling, control, and locomotion optimization of bio-inspired robotic systems, with a particular focus on modular snake robots. His work addresses one of the most challenging frontiers in mobile robotics: enabling autonomous systems to navigate complex, unstructured, and confined environments where traditional wheeled or legged robots struggle. Claessens has made significant contributions to the theoretical foundations of snake robot locomotion, developing comprehensive kinematic and dynamic frameworks using Euler–Lagrange formulations. His 2019 research introduced efficient matrix-based kinematics and dynamic models for 2D modular snake robots equipped with Series Elastic Actuators (SEAs), enabling pedal wave locomotion across uneven terrain — work that has garnered 17 citations and stands as his most impactful contribution. A companion study the same year extended this modeling approach to broader unstructured environments. Building on these foundations, his 2020 work tackled gait optimization within confined spaces, formulating a novel framework to balance competing locomotion objectives such as maximum speed and minimal energy consumption. Collectively, Claessens' research bridges theoretical mechanics with practical robotic control, offering valuable tools for applications in search-and-rescue, inspection, and industrial pipeline navigation.
Research Focus
Key Achievements
Top Papers
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