Browsing SINTEF Open by Author "Pettersen, Kristin Ytterstad"
Now showing items 1-11 of 11
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A survey on snake robot modeling and locomotion
Transeth, Aksel A.; Pettersen, Kristin Ytterstad; Liljeback, Pål (Journal article; Peer reviewed, 2009) -
Active camera control with obstacle avoidance for remote operations with industrial manipulators: Implementation and experimental results
Bjerkeng, Magnus; Transeth, Aksel Andreas; Pettersen, Kristin Ytterstad; Kyrkjebø, Erik; Fjerdingen, Sigrud Aksnes (Chapter, 2011)Remote controlled robots on offshore oil and gas platforms can potentially reduce costs and improve environment, health and safety issues. A key to successful remote control is to provide onshore operators with a sufficient ... -
Body Shape and Orientation Control for Locomotion of Biologically-Inspired Snake Robots
Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Liljebäck, Pål (Chapter, 2014)This paper considers guidance-based motion control of planar snake robots using a dynamic feedback control law. We first present the Euler-Lagrange equations of motion of the robot. Subsequently, we introduce a dynamic ... -
Path Following Control of Underactuated Surface Vessels in the Presence of Multiple Disturbances
Caharija, Walter; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad; Greco, Marilena; Gravdahl, Jan Tommy (Chapter, 2019-06-25)An integral version of the line-of-sight guidance method is shown to compensate for both kinematic and dynamic disturbances generated by wind, waves and sea currents. The guidance law is designed for path following tasks ... -
Path Following, Obstacle Detection and Obstacle Avoidance for Thrusted Underwater Snake Robots
Kelasidi, Eleni; Moe, Signe; Pettersen, Kristin Ytterstad; Kohl, Anna M; Liljebäck, Pål; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2019)The use of unmanned underwater vehicles is steadily increasing for a variety of applications such as mapping, monitoring, inspection and intervention within several research fields and industries, e.g., oceanography, marine ... -
Semiglobal exponential stability of a counter-current and co-current guidance scheme
Caharija, Walter; Grøtli, Esten Ingar; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2018)A control technique for counter-current and co-current guidance of underactuated marine vehicles is revisited and stronger stability properties are shown. In particular, the stronger property of uniform semiglobal exponential ... -
Semiglobal exponential stability of a counter-current and co-current guidance scheme
Caharija, Walter; Grøtli, Esten Ingar; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2018)A control technique for counter-current and co-current guidance of underactuated marine vehicles is revisited and stronger stability properties are shown. In particular, the stronger property of uniform semiglobal exponential ... -
Snake Robots - From Biology to Nonlinear Control
Pettersen, Kristin Ytterstad; Liljebäck, Pål; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article, 2013)Inspired by the motion of biological snakes, this paper presents an overview of recent results in modelling and control of snake robots. The objective of the research underlying this paper is to contribute to the mathematical ... -
Stability Analysis of a Hierarchical Architecture for Discrete-Time Sensor-based Control of Robotic Systems
Bjerkeng, Magnus Christian; Falco, Pietro; Natale, Ciro; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2014)The stability of discrete time kinematic sensor-based control of robots is investigated in this paper. A hierarchical inner-loop/outer-loop control architecture common for a generic robotic system is considered. The inner ... -
Stability analysis of snake robot locomotion based on averaging theory
Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2011)This paper investigates the controllability and stability properties of a planar snake robot influenced by anisotropic viscous ground friction. An analysis of the model shows that any asymptotically stabilizing control law ... -
Stereographic projection for industrial manipulator tasks: Theory and experiments
Bjerkeng, Magnus; Pettersen, Kristin Ytterstad; Kyrkjebø, Erik (Chapter, 2011)In this paper, we present a solution and experimental results for real-time control of manipulation tasks considering the alignment of a robots end effector relative to some reference. The developed controller is applicable ...