• A control framework for biologically inspired underwater swimming manipulators equipped with thrusters 

      Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (IFAC Proceedings series;, Journal article; Peer reviewed, 2016)
      In this paper we present a control framework for a novel biologically inspired underwater swimming manipulator (USM) equipped with thrusters. The framework consists of a kinematic part and a dynamic part. The kinematic ...
    • Combined kinematic and dynamic control of an underwater swimming manipulator 

      Borlaug, Ida-Louise Garmann; Sverdrup-Thygeson, Jørgen; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2019)
      An underwater swimming manipulator (USM) is a long and slender underwater vehicle composed of multiple links that are connected by motorized joints and equipped with thrusters. The USM belongs to the class of underwater ...
    • Control of an Underwater Swimming Manipulator, With Compensation for Reaction Forces and Hydrostatic Forces 

      Amundsen, Morten Fyhn (Master thesis, 2017)
      The underwater swimming manipulator (USM) is a new class of robots that combines the underwater snake robot's biologically inspired shape with the thruster actuators typical of other underwater robots. This combination ...
    • Inverse Kinematic Control of a Free-Floating Underwater Manipulator Using the Generalized Jacobian Matrix 

      Amundsen, Morten Fyhn; Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad (Chapter, 2018)
      Traditional control of robot manipulators assume that the base of the manipulator is fixed in the environment. However, underwater vehicle-manipulator systems are usually floating freely. Using traditional fixed-base ...
    • Kinematic singularity avoidance for robot manipulators using set-based manipulability tasks 

      Sverdrup-Thygeson, Jørgen; Moe, Signe; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Chapter, 2017)
      This paper proposes a novel method for kinematic singularity avoidance for robot manipulators. Using set-based singularity avoidance tasks within the singularity-robust multiple task priority framework, avoidance of kinematic ...
    • Modeling and Simulation of an Active Hydraulic Heave Compensation System for Offshore Cranes 

      Sverdrup-Thygeson, Jørgen (Master thesis, 2007)
      This thesis deals with the mathematical modeling of hydraulic heave compensation systems. When performing operations such as launch and recovery of remote operated vehicles and lowering subsea installation parts to the sea ...
    • Modeling of underwater swimming manipulators 

      Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2016)
      For several decades, the traditional ROV has been the workhorse used for any kind of subsea operations. The industry is now facing an important shift towards more economical and more efficient operations on subsea ...
    • Subsea Inspection and Intervention with Underwater Swimming Manipulators 

      Aalbu, Sara Vinje (Master thesis, 2018)
      This thesis examines dynamic motion control approaches and interaction control approaches for underwater swimming manipulators (USMs). USMs are innovative underwater vehicles with potential to increase efficiency and reduce ...
    • The Underwater Swimming Manipulator - A Bio-Inspired AUV 

      Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Chapter; Conference object; Peer reviewed, 2016)
      Autonomous underwater vehicles (AUVs) have been used for environmental mapping and surveys of various kinds for some time. More recently, the AUVs have entered the domain of the remotely operated vehicles (ROVs) to tackle ...
    • The Underwater Swimming Manipulator — A Bioinspired Solution for Subsea Operations 

      Sverdrup-Thygeson, Jørgen; Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2018)
      Underwater vehicles have carried out subsea operations for many decades, and since the 1980s, remotely operated vehicles (ROVs) have been essential for the development and maintenance of subsea installations. As the ...
    • Trajectory tracking for underwater swimming manipulators using a super twisting algorithm 

      Borlaug, Ida-Louise Garmann; Gravdahl, Jan Tommy; Sverdrup-Thygeson, Jørgen; Pettersen, Kristin Ytterstad; Loria, Antonio (Journal article; Peer reviewed, 2018)
      The underwater swimming manipulator (USM) is a snake-like, multi-articulated, underwater robot that is equipped with thrusters. One of the main purposes of the USM is to act like an underwater floating base manipulator. ...