47 citations · 71 across the 14 of their papers we have counts for
7 papers · 1 filter
The Quadruped Soft Tail: Compliant Grasping and Swabbing for Contamination Surveys in Harsh Environments
Harald Minde Hansen, Nandita Gallacher, Kristin Y. Pettersen +2
Beryllium contamination surveys in radioactive areas are challenging for robots in environments cluttered with cables and electronics. To address this problem, we have developed a…
Data-Driven Dynamic Modeling of a Tendon-Actuated Continuum Robot
Harald Minde Hansen, Bjørn Kåre Sæbø, Kristin Y. Pettersen +2
Developing dynamic models for tendon-driven continuum robots is challenging due to their nonlinear, high-dimensional, and friction-dominated dynamics. This paper presents a compara…
Tendon-Actuated Robots with a Tapered, Flexible Polymer Backbone: Design, Fabrication, and Modeling
Harald Minde Hansen, Nandita Gallacher, Nicholas B. Andrews +3
This paper presents the design, modeling, and fabrication of 3D-printed, tendon-actuated continuum robots featuring a flexible, tapered backbone constructed from thermoplastic poly…
LeVERB: Humanoid Whole-Body Control with Latent Vision-Language Instruction
Haoru Xue, Xiaoyu Huang, Dantong Niu +8
Vision-language-action (VLA) models have demonstrated strong semantic understanding and zero-shot generalization, yet most existing systems assume an accurate low-level controller…
Deep Model Predictive Variable Impedance Control
Akhil S Anand, Fares J. Abu-Dakka, Jan Tommy Gravdahl
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 to…
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…