Home

Curriculum Vitae

Scientific Work

Publications

Education

Downloads

 

Publications

Google Scholar

MTMT database

2019

[1] Giuseppe Habib, László Bencsik, Tamás Insperger, Ambrus Zelei: Impacts Versus Non-Impulsive Muscle and Joint Loads in a Two-Segmented Model of Hopping. ECCOMAS Multibody Dynamics Conference, Duisburg, Germany, July 15-18, 2019. PDF.

[2] Ambrus Zelei, László Bencsik, Tamás Insperger, Gábor Stépán: Stable internal dynamics of a legged hopping model with locomotion speed control. The 15th IFToMM World Congress, Krakow, Poland, June 30 - July 4, 2019. PDF.

[3] Zana Roland Reginald, Zelei Ambrus: Az Acroboter beltéri robot modellezése és térbeli mozgáskövetése pásztázó lézersíkok elvén. XIII. Magyar Mechanikai Konferencia - MaMeK, Miskolc, Magyarország, 2019. augusztus 27-29. PDF.

[4] Bencsik László, Szalai Judit, Zelei Ambrus, Nagy Dalma J., Schultheisz Judit, Insperger Tamás: Huple készségfejlesztő eszköz egyensúlyjavító hatásának vizsgálata. XIII. Magyar Mechanikai Konferencia - MaMeK, Miskolc, Magyarország, 2019. augusztus 27-29. PDF.

[5] Zelei Ambrus: Mechanikai modellek fejlesztése a futás és szökdelés dinamikájának elemzésére. XIII. Magyar Mechanikai Konferencia - MaMeK, Miskolc, Magyarország, 2019. augusztus 27-29. PDF.

[6] Patkó Dóra, Zelei Ambrus: A poszturális egyensúlyozás és a futás stabilizációjához felhasznált energiamennyiség viszonyának becslése. XXVII. Nemzetközi Gépészeti Konferencia - OGÉT, Nagyvárad, Románia, 2019. április 25–28. PDF.

[7] Zelei, A., Krauskopf, B., Piiroinen, P. T., Insperger, T.: Stable periodic motion of a controlled segmented leg model of pedal locomotion with inelastic ground-foot collision. Nonlinear Dynamics, 2019, in press, doi:10.1007/s11071-019-04911-z. online.

[8] Bencsik, L. and Zelei, A.: Running Form Analysis Based on Impact Dynamics: A Minimally Complex Mechanical Model. Periodica Polytechnica Mechanical Engineering, 2019, pp 7-15, doi.org/10.3311/PPme.11746. PDF, online.

2018

[9] Roland Reginald Zana, Ambrus Zelei: Swept Laser Based 3D Pose Detection of the Swinging Robot Acroboter. 18th Mechatronics Conference, Brno, Chech Republic, 5-7. Dec., 2018. PDF.

[10] R. R. Zana, B. Bodor, L. Bencsik, A. Zelei.: A Tutorial for the Analysis of the Piecewise-Smooth Dynamics of a Constrained Multibody Model of Vertical Hopping. Mathematical and Computational Applications, 23(4) Special IssueComputational Methods in Interdisciplinary Applications of Nonlinear Dynamics, 2018, doi:10.3390/mca23040074. PDF, online.

[11] Ambrus Zelei, Tamás Insperger: Reduction of ground-foot impact intensity of a hopping leg model on slopes. The Fifth Joint International Conference on Multibody System Dynamics - IMSD 2018, Lisboa, Portugal, June 24-28, 2018. PDF

[12] Ambrus Zelei, Tamás Insperger: Simplest mechanical model of stable hopping with inelastic ground-foot impact, 12th IFAC Symposium on Robot Control - SYROCO, August 27 - 30, 2018 Budapest, Hungary. PDF

[13] Csenge A. Molnár, Ambrus Zelei, Tamás Insperger: Human balancing on rolling balance board in the frontal plane, 14th IFAC Workshop on Time Delay Systems, Budapest, Hungary, June 28-30, 2018. IFAC-PapersOnLine, 2018, 51(14):300-305. PDF, online.

2017

[14] Ambrus Zelei, Csenge A. Molnár, Tamás Insperger: Four-bar mechanism substitution for balance board experiments: a parametric study. Springer Proceedings in Mathematics and Statistics, Dynamical Systems in Applications, December 11-14, 2017, Lodz, POLAND. PDF

[15] Ambrus Zelei, Bernd Krauskopf, Tamás Insperger: Control optimization for a three-segmented hopping leg model of human locomotion. 14th International Conference on Dynamical Systems Theory and Applications, December 11-14, 2017, Lodz, POLAND. PDF

[16] Ambrus Zelei, Tamás Insperger: Lábmodell periodikus mozgásának előállítása a futás biomechanikai elemzéséhez (Priodic motion generation of a leg model for the biomechanic analysis of running). 7. Magyar Biomechanikai Konferencia (7th Hungarian Biomechanics Conference), 6-7, October, 2017, Szeged, Hungary. PDF

[17] László Fekete, Bernd Krauskopf, Ambrus Zelei: Three-segmented hopping leg for the analysis of human running locomotion. 9th European Nonlinear Dynamics Conference (ENOC 2017), 25-30, June, 2017, Budapest, Hungary. PDF

[18] Ambrus Zelei, Dalma Nagy, Csenge A Molnár, László Bencsik, Tamás Insperger: Experimental Identification of Time-Delay of Human Balancing Using Cepstrum. In: ECCOMAS Thematic Conference on MULTIBODY DYNAMICS. June 19-22, 2017, Prague, Czech Republic, pp. 339-341. PDF

[19] László Bencsik, Ambrus Zelei: Periodic servo-constraints in a stick balancing problem. In: ECCOMAS Thematic Conference on MULTIBODY DYNAMICS. June 19-22, 2017, Prague, Czech Republic, pp. 347-349.

[20] Csenge A Molnár, Ambrus Zelei, Tamás Insperger: Egyensúlyozó deszkán való egyensúlyozási képességek modellezése a sagittalis síkban (Modelling of balancing abilities on balance board in the sagittal plane). XXV. Nemzetközi Gépészeti Konferencia - OGÉT (International Conference on Mechanical Engineering). April 27-30. 2017, Kolozsvár, Romania. PDF

[21] Csenge A. Molnár, A. Zelei, Tamás Insperger: Estimation of Human Reaction Time Delay During Balancing on Balance Board. In Proceedings of The 13th IASTED International Conference on Biomedical Engineering (BioMed 2017), February 20 – 21, 2017, Innsbruck, Austria. PDF, online.

[22] László Bencsik, László L. Kovács and Ambrus Zelei: Stabilization of Internal Dynamics of Underactuated Systems by Periodic Servo-Constraints. International Journal of Structural Stability and Dynamics, 2017. PDF sample, online.

2016

[23] Ambrus Zelei, László Bencsik and Gábor Stépán: Handling actuator saturation as underactuation - case study with Acroboter service robot. Journal of Computational Nonlinear Dynamics, 2016, doi:10.1115/1.4034868. PDF, online.

[24] László Bencsik, Ambrus Zelei: Effects of human running cadence and experimental validation of the bouncing ball model. Mechanical Systems and Signal Processing, August 2016, doi: 10.1016/j.ymssp.2016.08.001. PDF, online.

[25] Dóra Patkó, Ambrus Zelei: Kinematic Redundancy Resolution in Robotics and in Human Motion - An Experimental Case Study. The Fourth Joint International Conference on Multibody System Dynamics - IMSD 2016, Montréal, Canada, May 29–June 2. PDF.

[26] László Bencsik, Ambrus Zelei and Gábor Stépán: Development of the Acroboter Service Robot Platform. In 21st CISM IFToMM Symposium on Robot Design, Dynamics and Control, RoManSy 2016, June 20-23, Udine, Italy. PDF.

2015

[27] Ambrus Zelei: Computed Torque Control and Utilization of Parametric Excitation for Underactuated Dynamical Systems. PhD thesis, supervisor: Gábor Stépán. PDF

[28] László Bencsik, Ambrus Zelei: A study on the effect of human running cadence based on the bouncing ball model. 13th International Conference on Dynamical Systems Theory and Applications, December 7-10, 2015, Lodz, POLAND. PDF

[29] László Bencsik, László L. Kovács, Ambrus Zelei: Stability of underactuated multibody systems subjected to periodic servo constraints. 13th International Conference on Dynamical Systems Theory and Applications, December 7-10, 2015, Lodz, POLAND. PDF

[30] Ambrus Zelei, Gábor Stépán: Underactuation Induced by Actuator Saturation. The 14th IFToMM World Congress, Taipei, Taiwan, October 25-30, 2015, DOI: 10.6567/IFToMM.14TH.WC.OS13.089. PDF

[31] Zelei Ambrus: Az emberi futás elemzése a talaj-láb ütközés szempontjából. XII. Magyar Mechanikai Konferencia, August 25-27, 2015, Miskolc, Hungary (Extended abstract). PDF

[32] László Bencsik, Ambrus Zelei, László L. Kovács: Reduction of the effect of actuator saturation with periodic servo-constraints. ECCOMAS Thematic Conference on Multibody Dynamics, Barcelona, Catalonia, Spain, June 29 - July 2, 2015, paper id: p246. PDF

[33] Zelei Ambrus: Kis szabadsági fokú mechanikai modell az emberi futás során fellépő ütközések elemzésére. 6. Magyar Biomechanikai Konferencia, June 11-13, 2015, Sárvár, Hungary (Absract). PDF

2014

[34] Ambrus Zelei, László Bencsik, Gábor Stépán: Alternative Task Definitions for Path Tracking Control of Underactuated Robots. The 3rd Joint International Conference on Multibody System Dynamics and The 7th Asian Conference on Multibody Dynamics. 30 June - 3 July, 2014, BEXCO, Busan, Korea. PDF

[35] László Bencsik, László L. Kovács, Ambrus Zelei: Periodic Servo-Constraints for Stabilizing Underactuated Multibody Systems. The 3rd Joint International Conference on Multibody System Dynamics and The 7th Asian Conference on Multibody Dynamics. 30 June - 3 July, 2014, BEXCO, Busan, Korea. PDF

[36] Zsolt Szabó, Gábor Stépán, Ambrus Zelei: Experimental and Analytical Investigation of a Fluttering Bridge Section Model. The 21st International Congress on Sound and Vibration (ICSV21). 13 - 17 July, 2014, Beijing, China. PDF

2013

[37] Zoltán Juhász, Ambrus Zelei: Analysis of worm-like locomotion. Periodica Polytechnica – Mechanical Engineering, 57/2 (2013) 59–64, doi: 10.3311/PPme.7047. PDF

[38] Ambrus Zelei, László Bencsik, László L Kovács, Gábor Stépán: Energy efficient walking and running - impact dynamics based on varying geometric constraints. In: 12th Conference on Dynamical Systems Theory and Applications. December 2-5, 2013. Lodz, Poland, pp 259-270. PDF

[39] Ambrus Zelei, László Bencsik, László L Kovács, Gábor Stépán: Impact models for walking and running systems-angular moment conservation versus varying geomteric constraints. In: Eccomas 2013, Zagreb, Croatia, July 1-4, pp. 47-48. ISBN: 978-953-7738-21-1. PDF

[40] Zelei Ambrus, Stépán Gábor: Mikrokáosz az egyensúlyozásban – elmélet és kísérlet. Természet világa 144(II. különszám). PDF

2012

[41] Ambrus Zelei, Gábor Stépán: Case studies for computed torque control of constrained underactuated systems. Periodica Polytechnica – Mechanical Engineering, 56(1), pp. 73-80, 2012. PDF

[42] Zsolt Szabo, Ambrus Zelei, Gábor Stépán: Stability of an elastic supported flat plate subjected to potential flow. Periodica Polytechnica – Mechanical Engineering, 56(2), pp. 99-103, 2012. PDF

[43] A. Zelei, L. Bencsik, L. L. Kovács, G. Stépán: Redundancy Resolution of the Underactuated Manipulator ACROBOTER. In proc. RoManSy 2012 - 19th CISM-IFToMM Symposium on Robot Design, Dynamics and Control, June 12-15, 2012, Paris, France, pp. 233-240. PDF

[44] A. Zelei, L. Bencsik, G. Stépán, L. L. Kovács: Dynamics and Actuation of the Acroboter Platform. In Proc. of The 2nd Joint International Conference on Multibody System Dynamics (IMSD 2012), May 29 - June 1, 2012, Stuttgart, Germany, pp333-334. PDF

2011

[45] L. L. Kovács, A. Zelei, G. Stépán: Computed torque control of an under-actuated service robot platform modeled by natural coordinates. Communications in Nonlinear Science and Numerical Simulation (CNSNS), 16(5), pp. 2205-2217, 2010. PDF

[46] László Bencsik, Ambrus Zelei, László L. Kovacs: Alulaktuált robotok kiszámított nyomaték szabályozása szervo kényszerek alkalmazásával. XI. Magyar Mechanikai Konferencia, August 29-31, 2011, Miskolc, Hungary (Extended abstract). PDF

[47] Máté Móra, László Bencsik, Gábor Stépán, Ambrus Zelei: Ventilátorral szabályozott, alulaktuált inga kísérleti analízise. XI. Magyar Mechanikai Konferencia, August 29-31, 2011, Miskolc, Hungary (Extended abstract). PDF

[48] Gergely Szabó, József Györgyi, Ambrus Zelei, Zsolt Szabó, Gergely Kristóf: Hídpályák belebegésének numerikus és kísérleti vizsgálata. XI. Magyar Mechanikai Konferencia, August 29-31, 2011, Miskolc, Hungary (Extended abstract). PDF

[49] Zsolt Szabó, Ambrus Zelei, Gergely Szabó: Áramlásba helyezett rugalmasan felfüggesztett síklap dinamikájának analitikus vizsgálata. XI. Magyar Mechanikai Konferencia, August 29-31, 2011, Miskolc, Hungary (Extended abstract). PDF

[50] Árpád Takács, Ambrus Zelei: Úszó testek stabilitásvesztése hullámzás hatására. XI. Magyar Mechanikai Konferencia, August 29-31, 2011, Miskolc, Hungary (Extended abstract). PDF

[51] Ambrus Zelei, Zsolt Szabó, Gábor Stépán, Gergely Szabó: Rugalmasan felfüggesztett hídmodellre ható aerodinamikai erők kísérleti meghatározása Monte Carlo módszerrel. XI. Magyar Mechanikai Konferencia, August 29-31, 2011, Miskolc, Hungary (Extended abstract). PDF

[52] Ambrus Zelei, Máté Móra, Gábor Stépán: Kísérletek ventilátorral hajtott alulaktuált inga szabályozására. In proc.: XI. Magyar Mechanikai Konferencia, August 29-31, 2011, Miskolc, Hungary, (ISBN 978-963-661-975-6). PDF

[53] Ambrus Zelei, Zsolt Szabó, Gábor Stépán: Rugalmasan felfüggesztett hídmodellre ható aerodinamikai erők kísérleti meghatározása Monte Carlo módszerrel. In proc.: XI. Magyar Mechanikai Konferencia, August 29-31, 2011, Miskolc, Hungary, (ISBN 978-963-661-975-6). PDF

[54] László L. Kovács, József Kövecses, Ambrus Zelei, László Bencsik and Gábor Stépán: Servo-Constraint Based Computed Torque Control of Underactuated Mechanical Systems. In proc. of ASME 2011 8th International Conference on Multibody Systems, Nonlinear Dynamics, and Control, August 28-August 31, 2011, Washington, USA. PDF

[55] Ambrus Zelei, László Bencsik, Gábor Stépán: An Underactuated Modular Robot for Testing Control Algorithms. 56th IWK International Scientific Colloquium, 12-16 September, 2011, Ilmenau, Germany. PDF

[56] Ambrus Zelei, Máté Móra, Gábor Stépán: Experimental Analysis of a Fan Driven Underactuated Pendulum. In proc. of DAS2011, 28th Danubia-Adria-Symposium on Advances in Experimental Mechanics (ISBN: 978-963-9058-32-3), 28 September - 1 October, 2011, Siófok, Hungary. PDF

[57] Ambrus Zelei, Gábor Stépán: Computed torque control of a constrained manipulator considering the actuator saturation. In Dynamical Systems - Nonlinear Dynamics and Control (proc. of 11th Conference on Dynamical Systems - Theory and Applications DSTA-2011), December 5-8 Lodz, Poland, pp 189-194. PDF

2010

[58] L. L. Kovács, A. Zelei, L. Bencsik, J. Turi, G. Stépán: Motion Control of an Under-Actuated Service Robot Using Natural Coordinates. In proc. ROMANSY 18 – Robot Design, Dynamics and Control, (RoManSy 2010, July 5, 2010 — July 8, 2010, Udine, Italy) pp. 331–338. PDF

[59] Kovács L. L., Zelei A., Servo Constraint Based Computed Torque Control of ACROBOTER, in Proceedings of the Symposium on Brain, Body and Machine on the occasion of the 25th anniversary of McGill University’s Centre for Intelligent Machines, November 10-12, 2010, Montreal, Canada, 4 pages (CD-ROM, Servo Constraint Based Computed Torque Control of ACROBOTER.pdf) PDF

[60] A. Zelei, L. L. Kovács, L. Bencsik, G. Stépán: Computed Torque Control of Under-actuated Dynamical Systems Modeled by Natural Coordinates. In Proceedings of the 7th International Conference on Mechanical Engineering. Gépészet 2010, 25-26.May 2010, Budapest, Hungary, ISBN: 978-963-313-007-0. PDF

[61] László L. Kovács, Ambrus Zelei, László Bencsik and Gábor Stépán: The ACROBOTER Platform - Part 1: Conceptual Design and Dynamics Modeling Aspects. In proceedings of the IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments, 7-11 June, 2010, Budapest, Hungary, (IUTAM Book Series by Springer, Vol 30, pp. 3-10., Eds: Gábor Stépán, László L. Kovács, András Tóth, ISBN: 978-94-007-1642-1) PDF

[62] A. Zelei and G. Stépán: The ACROBOTER Platform - Part 2: Servo-Constraints in Computed Torque Control. In proceedings of the IUTAM Symposium on Dynamics Modeling and Interaction Control in Virtual and Real Environments, 7-11 June, 2010, Budapest, Hungary, (IUTAM Book Series by Springer, Vol 30, pp. 11-18., Eds: Gábor Stépán, László L. Kovács, András Tóth, ISBN: 978-94-007-1642-1) PDF

[63] Ambrus Zelei, László L. Kovacs, László Bencsik, Gábor Stépán: Impedance Control of a Ceiling Based Service Robot - Simulation and Experiment. 27th Danubia-Adria-Symposium on Advances in Experimental Mechanics, September 22-25, 2010, Wroclaw, Poland (Extended abstract) PDF

2009

[64] Zelei Ambrus, Kovács L László;, Stépán Gábor: Computed Torque Control Method For Under-Actuated Manipulator. In: Proceedings of the ASME 2009 International Design Engineering Technical Conferences & Computers and Information in Engineering Conference (IDETC/CIE 2009). San Diego, California, USA, 2009. San Diego: 2009. Paper DETC2009-86409. PDF

[65] Ambrus Zelei, László L Kovács, Gábor Stépán: Trajectory Generation of an Underactuated and redundant Service Robot Platform Equipped with Ducted Fan Actuators. In: Proceedings of the 10th Conference on Dynamical Systems - Theory and Applications DSTA-2009. December 7 - 10, 2009, Lodz, Poland, pp. 789-796. PDF

2008

[66] A Zelei, G Stépán: Motion Analysis of a Crane as an Under-Actuated Robot. In: GÉPÉSZET 2008: Proceedings of Sixth Conference on Mechanical Engineering. Budapest, Hungary, 2008. Paper no.: G-2008-M-06, ISBN: 978-963-420-947-8. PDF

[67] A Zelei, G Stépán: The influence of parametric excitation on floating bodies. 79th Annual Meeting of the International Association of Applied Mathematics and Mechanics (GAMM 2008), Bremen, Germany, 31. March – 4. April, 2008. PDF

[68] A Zelei, G Stépán: The influence of parametric excitation on floating bodies. In: PAMM, Volume 8 Issue 1. Bremen, Germany, 2008. pp. 10929-10930. PDF

[69] A Zelei, G Stépán: Stabilizing Effect of Vertical Periodic Motion on Athletes - Paddle Systems. In: Proceedings of the 3rd Hungarian Confrence on Biomechanics. Budapest, Magyarország, 2008. pp. 415-422. PDF