Blar i NTNU Open på forfatter "Løwer, Jostein"
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Form Closure For Fully Actuated and Robust Obstacle-Aided locomotion in Snake Robots
Løwer, Jostein; Gravdahl, Irja; Varagnolo, Damiano; Stavdahl, Øyvind (Peer reviewed; Journal article, 2023)In this letter we adapt the theory of form closure to define the form closed region: The subset of a snake robot's configuration space for which the constraints imposed by the obstacles in its environment render the system ... -
Heading estimation during motor-related magnetic disturbances
Linnerud, Mari (Master thesis, 2023)Kursvinkelestimering er en utfordrende oppgave i nærvær av forstyrrelser fra magnetiske materialer. For små kjøretøy med elektriske motorer, som for eksempel en slangerobot, blir kursvinkelestimering ekstra utfordrende ... -
Improved Jacobian matrix estimation applied to snake robots
Løwer, Jostein; Varagnolo, Damiano; Stavdahl, Øyvind (Peer reviewed; Journal article, 2023)Two manipulator Jacobian matrix estimators for constrained planar snake robots are developed and tested, which enables the implementation of Jacobian-based obstacle-aided locomotion (OAL) control schemes. These schemes use ... -
Intrinsic Force-Torque Sensor System for a Next Generation Snake Robot
Mörlin, Joel; Melhuus, Victor Shaw; Mørk, Oscar Brunell (Bachelor thesis, 2021)En ny slangerobot skal utvikles av NTNU/IKT som en testplattform for HOAB (Hybrid Obstruksjons Assistert Bevegelse). HOAB bygger på kunstig etterligning av hvordan biologiske slanger beveger seg i terreng ved å presse seg ... -
Intrinsic sensor feedback control for the MyHand prosthesis
Løwer, Jostein (Master thesis, 2020) -
Modeling for Hybrid Obstacle-Aided Locomotion (HOAL) of Snake Robots
Gravdahl, Irja; Stavdahl, Øyvind; Koushan, Atussa; Løwer, Jostein; Pettersen, Kristin Ytterstad (Peer reviewed; Journal article, 2022)Snake robots able to operate in cluttered environments will be fit for a multitude of applications pertinent for society such as search-and-rescue operations, fire fighting and traversing otherwise unavailable tight spaces. ... -
A Novel Model for Link Dynamics in Planar Snake Robots Using Internal Constraint Force Sensing
Løwer, Jostein; Gravdahl, Irja; Varagnolo, Damiano; Stavdahl, Øyvind (Chapter, 2023)We consider the problem of simplifying the typically complex task of deriving dynamical mechanical models of planar snake robots. More precisely we propose a modeling strategy that assumes the possibility of measuring the ... -
Proprioceptive Contact Force and Contact Point Estimation in a Stationary Snake Robot
Løwer, Jostein; Gravdahl, Irja; Varagnolo, Damiano; Stavdahl, Øyvind (Peer reviewed; Journal article, 2022)Measuring contact forces and knowing how and where a robot is interacting with obstacles in its environment is particularly useful for developing physics-based Obstacle-Aided Locomotion strategies for snake robots. The ... -
SimSerpent: A Physics-based Simulator for a Next Generation Snake Robot
Mørk, Oscar Brunell (Master thesis, 2023)Boa, en neste generasjons sensordrevet slangerobot, er for tiden under utvikling ved Instituttet for teknisk kybernetikk (ITK) ved Norges teknisk-naturvitenskapelige universitet (NTNU). Som et resultat har det blitt gitt ... -
Snakes on a Plane: Modeling, Estimation and Locomotion for Planar Snake robots in Cluttered Environments
Løwer, Jostein (Doctoral theses at NTNU;2023:405, Doctoral thesis, 2023)Snake robots are mechanisms designed to mimic biological snakes, and aspire to inherit the robustness and stability of their biological counterparts. As of yet, this is a largely unrealized potential. This thesis aims to ...