Fields of competence
ROBOTNOR represents a unique synergy of academic and industrial expertise which allows us to counsel and comprehend a wide variety of tasks and projects. Our fields of competence are numerous and diverse.
It is not always possible to control inherently nonlinear systems by linear control methods throughout the required range in phase space. Furthermore, in some cases where it is not strictly necessary, control may be improved by the use of nonlinear control laws. Many systems, such as snake robots and underactuated vehicles, fall in these categories. ROBOTNOR researchers have therefore accumulated considerable expertise in the area of nonlinear control.
The personnel at ROBOTNOR has a favourable diversity through its mix of both theoretical and applied researchers working together. This diversity is a significant strength which enables ROBOTNOR to carry out research where theory and practice is unified. The diversity of our expertise has been demonstrated in numerous research projects where we employ advanced nonlinear control methods to solve practical control problems in robotics.
To understand, simulate and design controllers for complex mechanical systems, it is necessary to have […]
Motion planning is a central topic in most of our research activities. In particular, motion […]
Guidance and navigation is an essential part of the on-board systems of any device capable […]
Launched in 2009, this project aims to develop the next generation robotic technology for Norwegian […]
Mobile robot manipulators (mobile robots with one or more attached manipulator arms) will be prevalent […]
Wheeko is an experimental platform which we developed to study snake robot locomotion across flat […]
P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, Snake Robots – Modelling, Mechatronics, and Control, ser. Advances in Industrial Control. Springer, 2012.
A. Pavlov and K.Y. Pettersen, “Stable inversion of non-minimum phase nonlinear systems: a convergent systems approach”, in Proc. 46th IEEE Conference on Decision and Control, New Orleans, LA, USA, Dec. 12–14, 2007, pp. 3995–4000.
C. Holden and K.Y. Pettersen, “Global uniform asymptotic Lyapunov stabilization of a vectorial chained-form system with a smooth time-varying control law”, in Proc. 47th IEEE Conference on Decision and Control, Cancun, Mexico, Dec. 9–11, 2008, pp. 640–645.