• Modeling and Control of a Bifilar Crane Payload 

      Cibicik, Andrej; Myhre, Torstein Anderssen; Egeland, Olav (Journal article; Peer reviewed, 2018)
      This paper presents a modeling technique and a controller for an underactuated crane payload. The crane payload is modeled as a bifilar pendulum. The payload is attached to a sheave block, such that a cable can freely run ...
    • Path Planning, Dynamic Trajectory Generation and Control Analysis for Industrial Manipulators 

      Myhre, Torstein Anderssen (Master thesis, 2011)
      Many unsolved problems exists in the field of robot control.This text investigates state of the art methods for path finding, trajectory generation and control in order to identify their properties, which problems they are ...
    • Pose Estimation with Dual Quaternions and Iterative Closest Point 

      Sveier, Aksel; Myhre, Torstein Anderssen; Egeland, Olav (Chapter, 2018)
      This paper presents a method for pose estimation of a rigid body using unit dual quaternions where pose measurements from point clouds are filtered with a multiplicative extended Kalman filter (MEKF). The point clouds come ...
    • Quaternions and Dual Quaternions for State and Parameter Estimation 

      Sveier, Aksel (Doctoral theses at NTNU;2020:75, Doctoral thesis, 2020)
      This thesis presents new results on the use of quaternions and dual quaternions for the estimation of position and orientation using cameras and inertial sensors. The unit quaternion is a four-parameter representation of ...
    • Tracking a Swinging Target with a Robot Manipulator using Visual Sensing 

      Myhre, Torstein Anderssen; Egeland, Olav (Journal article; Peer reviewed, 2016)
      In this paper we develop a method for loading parts onto a swinging target using an industrial robot. The orientation of the target is estimated by a particle filter using camera images as measurements. Robust and accurate ...
    • Vision-Based Control of a Robot Interacting with Moving and Flexible Objects 

      Myhre, Torstein Anderssen (Doctoral thesis at NTNU;2016:101, Doctoral thesis, 2016)
      Industrial tasks that involves manipulation of moving or flexible objects are often performed with manual labour, while the use of industrial robots have mostly been limited to manipulation of static objects and objects ...