My Phd research has started almost three years ago. These years have been rich in lessons and experiences. In this article I give an overview on these three years. I will show some of my research lines and some of the results of this research, but first, it is time for some introductions. I started as a PhD student at the Robotics and Mechatronics group (RAM) in September 2017. Fresh from my master in Electrical Engineering, which I finished at the same group. ...