Blar i Institutt for teknisk kybernetikk på tidsskrift "Robotics and Autonomous Systems"

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    • 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, ...

    • Model predictive control for a multi-body slung-load system 

      Tartaglione, Gaetano; D'Amato, Egidio; Ariola, Marco; Salvo Rossi, Pierluigi; Johansen, Tor Arne (Journal article; Peer reviewed, 2017)
      In this paper we present a multi-level and distributed control system, based on a robust Model Predictive Control (MPC) technique, for a multi-body slung-load system. In particular, we consider a swarm of autonomous ...

    • Model-based variable impedance learning control for robotic manipulation 

      Sadanandan Anand, Akhil; Gravdahl, Jan Tommy; Abu-Dakka, Fares J. (Journal article; Peer reviewed, 2023)
      The capability to adapt compliance by varying muscle stiffness is crucial for dexterous manipulation skills in humans. Incorporating compliance in robot motor control is crucial for enabling real-world force interaction ...

    • Range-based Target Localization and Pursuit with Autonomous Vehicles: An Approach using Posterior CRLB and Model Predictive Control 

      Hung, Nguyen T; Crasta, Naveena; Salinas, D M; Pascoal, António M.; Johansen, Tor Arne (Peer reviewed; Journal article, 2020)
      We address the general problem of multiple target localization and pursuit using measurements of the ranges from the targets to a set of autonomous pursuing vehicles, referred to as trackers. We develop a general framework ...