25 citations · 29 across the 5 of their papers we have counts for
5 papers
Torque-Minimizing Control Allocation for Overactuated Quadrupedal Locomotion
Mads Erlend Bøe Lysø, Esten Ingar Grøtli, Kristin Ytterstad Pettersen
In this paper, we improve upon a method for optimal control of quadrupedal robots which utilizes a full-order model of the system. The original method utilizes offline nonlinear op…
A Levenberg-Marquardt algorithm for sparse identification of dynamical systems
Mark Haring, Esten Ingar Grøtli, Signe Riemer-Sørensen +2
Low complexity of a system model is essential for its use in real-time applications. However, sparse identification methods commonly have stringent requirements that exclude them f…
Backstepping-based Integral Sliding Mode Control with Time Delay Estimation for Autonomous Underwater Vehicles
Hossein Nejatbakhsh Esfahani, Behdad Aminian, Esten Ingar Grøtli +1
The aim of this paper is to propose a high performance control approach for trajectory tracking of Autonomous Underwater Vehicles (AUVs). However, the controller performance can be…
CASCLIK: CasADi-Based Closed-Loop Inverse Kinematics
Mathias Hauan Arbo, Esten Ingar Grøtli, Jan Tommy Gravdahl
A Python module for rapid prototyping of constraint-based closed-loop inverse kinematics controllers is presented. The module allows for combining multiple tasks that are resolved…
On Model Predictive Path Following and Trajectory Tracking for Industrial Robots
Mathias Hauan Arbo, Esten Ingar Grøtli, Jan Tommy Gravdahl
In this article we show how the model predictive path following controller allows robotic manipulators to stop at obstructions in a way that model predictive trajectory tracking co…