Browsing NTNU Open by Author "Stavdahl, Øyvind"
Now showing items 1-20 of 120
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A 3D motion planning framework for snake robots
Liljebäck, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Chapter, 2014)This paper presents a motion planning framework for three-dimensional body shape control of snake robots. Whereas conventional motion planning approaches define the body shape of snake robots in terms of their individual ... -
A control framework for snake robot locomotion based on shape control points interconnected by Bézier curves
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2012)This paper presents a control framework for shape control of snake robots for the purpose of locomotion. An advantage of the framework is that it allows the macroscopic shape of a snake robot to be controlled explicitly ... -
A hybrid model of obstacle-aided snake robot locomotion
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Conference object, 2010)A snake can traverse cluttered and irregular environments by using irregularities around its body as push-points to aid the propulsion. This characteristic feature of biological snake locomotion, denoted obstacle-aided ... -
A modular and waterproof snake robot joint mechanism with a novel force/torque sensor
Liljebäck, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (IEEE International Conference on Intelligent Robots and Systems. Proceedings;2012, Conference object, 2012)This paper presents the design of a waterproof and mechanically robust joint module for the snake robot Mamba. The main contribution of the module is a custom-designed force/torque sensor based on strain gauges, which ... -
A Multi-Modal Approach for Hand Motion Classification Using Surface EMG and Accelerometers
Fougner, Anders Lyngvi; Scheme, Erik; Chan, Adrian D. C.; Englehart, Kevin; Stavdahl, Øyvind (IEEE Engineering in Medicine and Biology Society. Conference Proceedings;6091054, Conference object; Journal article; Peer reviewed, 2011)For decades, electromyography (EMG) has been used for diagnostics, upper-limb prosthesis control, and recently even for more general human-machine interfaces. Current commercial upper limb prostheses usually have only two ... -
A Review of the Current Challenges Associated with the Development of an Artificial Pancreas by a Double Subcutaneous Approach
Christiansen, Sverre; Fougner, Anders Lyngvi; Stavdahl, Øyvind; Kölle, Konstanze; Ellingsen, Reinold; Carlsen, Sven Magnus (Journal article; Peer reviewed, 2017)Introduction Patients with diabetes type 1 (DM1) struggle daily to achieve good glucose control. The last decade has seen a rush of research groups working towards an artificial pancreas (AP) through the application of a ... -
A review on modelling, implementation, and control of snake robots
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2012)This paper provides an overview of previous literature on snake robot locomotion. In particular, the paper considers previous research efforts related to modelling of snake robots, physical development of these mechanisms, ... -
A Sensor Calibration and Sensor Fusion Approach with Focus on Tactile Force Estimation for Perception-Driven Obstacle-Aided Snake Robot Locomotion
Fredriksen, Vetle Bjørnstad (Master thesis, 2018)Snake robots have been a research topic of interest since Shigeo Hirose developed the first snake robot in 1972. As with many other types of robots, snake robots are interesting because they could be used to perform tasks ... -
A Sensor Fusion Approach with Focus on Visual Sensing for Perception-Driven Obstacle-Aided Snake Robot Locomotion
Kjørholt, Harald Gard Halvorssønn (Master thesis, 2018)Developing snake-like robots can be advantageous for numerous reasons. Biological snakes are capable of traversing all types of terrain in a very energy efficient and effective way. They achieve this variety of locomotion ... -
A simplified model of planar snake robot locomotion
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Conference object, 2010)This paper presents a model of the kinematics and dynamics of a planar, wheelless snake robot aimed at control design and stability analysis purposes. The proposed model is significantly less complex than existing models ... -
A snake robot joint mechanism with a contact force measurement system
Liljeback, Pål; Fjerdingen, Sigrud Aksnes; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind (Journal article; Peer reviewed, 2009)A snake robot can traverse cluttered and irregular environments by using irregularities around its body as pushpoints to aid the propulsion. This is denoted obstacle-aided locomotion and requires the snake robot to have ... -
A snake robot with a contact force measurement system for obstacle-aided locomotion
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind (Conference object, 2010)A snake robot can traverse cluttered and irregular environments by using irregularities around its body as push-points to aid the propulsion. This is denoted obstacle-aided locomotion and requires the snake robot to have ... -
ANN based respiration detection using UWB radar
Blehr, Harald (Master thesis, 2017)Non-contact detection of human respiration has many possible uses, e.g. health monitoring for clinical institutions, homes or prisons, alarm systems, fire evacuation, industrial or home automation, and triggering of medical ... -
Automated classification and quantification of spatio-temporal parameters in cross-country skiing skating technique by analysis of inertial sensor data and sensor insole data
Garsjø, Lene-Kristine (Master thesis, 2017)The aim of this thesis was (1) to develop a method for dividing cross-country skiing cycles into phases, and (2) extract and select features characterizing the change in center of pressure (CoP) during these phases. Both ... -
Automated detection and classification of movement cycles in cross-country skiing through analysis of inertial sensor data movement patterns
Meland, Henrik J. (Master thesis, 2017)Published technique analysis tools for movement patterns in cross-country skiing have accuracies ranging from 88% up to 98.5%, but reviews of these studies reveals that none have thoroughly addressed classifier robustness ... -
Automatisk segmentering av bevegelsesdata
Olsen, Stian Fuglesang (Master thesis, 2010)Hensikten med dette prosjektet er å benytte og videreutvikle metoder for segmentering av menneskelige bevegelser for fullstendig eller delvis automatisering av redigeringsprosessen. Bevegelsene i dette tilfellet kommer ... -
Blood glucose dynamics: Identification, smoothing and real time estimation in free-living settings
Staal, Odd Martin (Doctoral theses at NTNU;2019:132, Doctoral thesis, 2019)Diabetes currently affects about 9% of the world’s population, and causes loss or impairment of the body’s ability to control blood glucose (BG). Frequent BG measurements and medications, including insulin injections, are ... -
Cancellation of Movement Artifacts in GlucoseSensor Data
Nøstbakken, Roar Tordahl (Master thesis, 2017)The BioMKR wearable device developed by Prediktor Medical is aiming to be the first non-invasive continuous glucose monitoring device on the consumer market. The data gathered by the device, however, contains movement ... -
Compliant Control of the Body Shape of Snake Robots
Liljebäck, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2014)This paper presents a general motion planning framework for body shape control of snake robots. We demonstrate the applicability of the framework for straight line path following control, and for implementing body shape ...