Browsing NTNU Open by Author "Lysø, Mads Erlend Bøe"

Now showing items 1-4 of 4

    • Automatic alignment of underwater snake robots operating in wakes of bluff bodies 

      Orucevic, Amer; Wrzos-Kaminska, Marianna; Lysø, Mads Erlend Bøe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2024)
      This paper presents the development of controllers to automatically align an underwater snake robot (USR) with a wake that forms behind a bluff body, while swimming at a desired distance to the object. The low-level ...

    • Exponentially Stable Dynamic Walking in a Sprawling Quadruped 

      Lysø, Mads Erlend Bøe (Master thesis, 2022)
      Roboter med ben har vært et forskningsområde av økende akademisk og offentlig interesse de siste 50 årene. Roboter som evner å bevege seg robust og autonomt gjennom områder som byr på utfordringer for konvensjonelle kjøretøy ...

    • Optimal Positioning of Snake Robots in Vortex Wakes using Extremum-Seeking Control. 

      Orucevic, Amer; Lysø, Mads Erlend Bøe; Schmidt-Didlaukies, Henrik; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Peer reviewed; Journal article, 2023)
      In this paper we explore the optimal positioning of an underwater snake robot (USR) for energy harvesting in the wake of a bluff body. The USR and fluid are simulated jointly using a coupled vortex particle-mesh method and ...

    • Torque-Minimizing Control Allocation for Overactuated Quadrupedal Locomotion 

      Lysø, Mads Erlend Bøe; Grøtli, Esten Ingar; Pettersen, Kristin Ytterstad (Chapter, 2023)
      In this paper, we improve upon a method for optimal control of quadrupedal robots which utilizes a full-order model of the system. The original method utilizes offline nonlinear optimal control to synthesize a control ...