Gemini Centre for Advanced Robotics

  • Increase font size
  • Default font size
  • Decrease font size

Publications with Referee

Inspection and Maintenance Robotics

Robot Manipulators

Snake Robots

Biped Walking Robots

Robotic Marine Vehicles (Ships, AUVs, ROVs, USVs)

Space Robotics

Medical Robotics

Factory Automation

Nano Robotics

Other Types of Robots

Inspection and Maintenance Robotics



  • Transeth, A. A., Liljebäck, P.; Fjerdingen, S.; Kyrkjebø, E. & Mugaas, T. New possibilities - Next generation robotic systems for inspection and maintenance operations. Proc. EuroMaintenance, 2010, 229-232.
  • Netland, Øyvind; Skavhaug, Amund. Remote Presence, Cost-effective Robotic Inspection and Maintenance of Offshore Wind Turbines. 6th PhD Seminar on Wind Energy in Europe; 2010.
  • Thielemann Jens T, Thilo Sandner, Stefan Schwarzer, Ugo Cupcic, Schumann-Olsen Henrik, Kirkhus Trine (2010). TACO: A Three-dimensional Camera with Object Detection and Foveation. Smarter sensors, easier processing - SAB 2010 workshops. Paris: SAB2010.
  • Kyrkjebø Erik , Liljebäck Pål , Transeth Aksel Andreas, A Robotic Concept for Remote Inspection and Maintenance on Oil Platforms. 2009 Proceedings of the ASME 28th International Conference on Ocean, Offshore and Arctic Engineering, May 31 - June 5, 2009, Honolulu, Hawaii, USA. (s. OMAE2009-79702). American Society of Mechanical Engineers.
  • Fjerdingen, S. A.; Liljebäck, P. & Transeth, A. A. A snake-like robot for internal inspection of complex pipe structures (PIKo). Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, 2009, 5665-5671.

Robot Manipulators

     

  • From, Pål Johan; Duindam, Vincent; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Sastry, Shankar. Singularity-free dynamic equations of vehicle-manipulator systems. Simulation (San Diego, Calif.), 2010, vol. 18, no. 6, pp. 712-731.
  • From, Pål Johan; Schjølberg, Ingrid; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Fossen, Thor I. On the Boundedness and Skew-Symmetric Properties of the Inertia and Coriolis Matrices for Vehicle-Manipulator Systems. 7th Symposium on Intelligent Autonomous Vehicles. 2010.
  • From, Pål Johan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. Singularity-Free Dynamic Equations of AUV-Manipulator Systems. Elsevier IFAC Publications / IFAC Proceedings series 2010
  • From, Pål Johan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. Singularity-Free Dynamic Equations of Spacecraft-Manipulator Systems. International astronautical congress : Proceedings 2010.
  • From, Pål Johan; Abbeel, Pieter; Gravdahl, Jan Tommy. On the Influence of Ship Motion Prediction Accuracy on Motion Planning and Control of Robotic Manipulators on Seaborne Platforms. Proceedings / IEEE International Conference on Robotics and Automation 2010.
  • Mettin, Uwe; La Hera, Pedro X.; Freidovich, Leonid B.; Shiriaev, Anton. Parallel Elastic Actuators as a Control Tool for Preplanned Trajectories of Underactuated Mechanical Systems. The international journal of robotics research 2010, Volum 29.(9), pp. 1186-1198.
  • Mettin, Uwe; Shiriaev, Anton; Bätz, Georg; Wollherr, Dirk. Ball dribbling with an underactuated continuous-time control phase. Proceedings / IEEE International Conference on Robotics and Automation 2010 s. 4669-4674.
  • Mettin, Uwe; Shiriaev, Anton; Freidovich, Leonid; Sampei, Mitsuji. Optimal ball pitching with an underactuated model of a human arm. Proceedings / IEEE International Conference on Robotics and Automation 2010 s. 5009-5014.
  • From, Pål Johan; Abbeel, Pieter; Gravdahl, Jan Tommy. On the Influence of Ship Motion Prediction Accuracy on Motion Planning and Control of Robotic Manipulators on Seaborne Platforms. Proceedings / IEEE International Conference on Robotics and Automation 2010.
  • From, Pål Johan; Gravdahl, Jan Tommy. Real-time Optimal Trajectory Planning for Robotic Manipulators with Functional Redundancy. Proceedings of the International Conference on Industrial Technology; 2009.
  • Wang, Kesheng. Application of genetic algorithms to robot kinematics calibration. International Journal of Systems Science 2009 ;Volum 40.(2) s. 147-153.
  • Mettin, Uwe; La Hera, Pedro; Morales, Daniel; Shiriaev, Anton; Freidovich, Leonid; Westerberg, Simon. Trajectory planning and time-independent motion control for a kinematically redundant hydraulic manipulator. International Conference on Advanced Robotics, 2009. ICAR 2009.
  • Mettin, Uwe; Westerberg, Simon; Shiriaev, Anton; La Hera, Pedro. Analysis of human-operated motions and trajectory replanning for kinematically redundant manipulators. IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009. IROS 2009.
  • From, Pål Johan; Duindam, Vincent; Gravdahl, Jan Tommy; Sastry, S. Shankar. Modeling and motion planning for mechanisms on a non-inertial base. Proceedings / IEEE International Conference on Robotics and Automation 2009.
  • From, Pål Johan; Gravdahl, Jan Tommy. Fault Tolerance of Parallel Manipulators with Passive Joints. 7th IFAC Symposium on Fault Detection, Supervision and Safety of Technical Processes; 2009.
  • From, Pål Johan; Gravdahl, Jan Tommy. Real-time Optimal Trajectory Planning for Robotic Manipulators with Functional Redundancy. Proceedings of the International Conference on Industrial Technology; 2009.
  • Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. Operational space synchronization of two robot manipulators through a virtual velocity estimate. Modeling, Identification and Control 2008 ;Volum 29.(2) s. 59-66.
  • Nguyen, Tu Duc; Egeland, Olav. Infinite dimensional observer for a flexible robot arm with a tip load. Asian journal of control 2008 ;Volum 10. s. 456-461.
  • From, Pål Johan; Gravdahl, Jan Tommy. Iterative Solutions to the Inverse Geometric Problem for Manipulators with no Closed Form Solution. Modeling, Identification and Control 2008 ;Volum 29.(3) s. 77-92.
  • From, Pål Johan; Gravdahl, Jan Tommy. On the mobility and fault tolerance of closed chain manipulators with passive joints. Modeling, Identification and Control 2008 ;Volum 29.(4) s. 1-14.
  • Nguyen, Tu Duc; Egeland, Olav. Output tracking control of a flexible robot arm. 44th IEEE Conference on Decision and Control (CDC), and European Control Conference (ECC'05); 2005.
  • Solvang, Bjørn; Lien, Terje K.. Development of a high precision hydraulic manipulator. 5th Bergen International Workshop on Advances in Technology; 2004.
  • Bondhus, Anne Karin; Pettersen, Kristin Ytterstad; Nijmeijer, Henk. Master-slave synchronization of robot manipulators: experimental results. 16th IFAC World Congress- 2005.
  • Bondhus, Anne Karin; Pettersen, Kristin Ytterstad. Master-slave synchronization of robot manipulators. IFAC Symposium on Nonlinear Control Systems Design; 2004.
  • Deng, Ziqiong; Solvang, Bjørn; Lien, Terje K.. A methodological framework for developing ROV-manipulator systems for underwater unmanned intervention. Oceans 2001.
  • Deng, Ziqiong; Solvang, Bjørn; Lien, Terje K.. Structure of underwater intervention manipulators in workspace constraint environment and architecture of their control system. Oceans 2001.

Snake Robots



  • P. Liljebäck, Ø. Stavdahl, K. Y. Pettersen, and J. T. Gravdahl, Two new design concepts for snake robot locomotion in unstructured environments, Paladyn. Journal of Behavioral Robotics, vol. 1, no. 3, pp. 154-159, 2010.
  • P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, A review on modelling, implementation, and control of snake robots, Robotics and Autonomous Systems, 2010, submitted.
  • P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, Snake robot locomotion in environments with obstacles, IEEE Trans. Mechatronics, 2010, submitted.
  • P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, Lateral undulation of snake robots: A simplified model and fundamental properties, Robotica, 2011, submitted.
  • P. Liljebäck, I. U. Haugstuen, and K. Y. Pettersen, Path following control of planar snake robots using a cascaded approach, IEEE Trans. Control Systems Technology, 2011, to appear.
  • P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, Experimental investigation of obstacle-aided locomotion with a snake robot, IEEE Trans. Robotics, 2011, to appear.
  • P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, Controllability and stability analysis of planar snake robot locomotion, IEEE Trans. Automatic Control, vol. 56, no. 7, 2011, to appear.
  • P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, Hybrid modelling and control of obstacle-aided snake robot locomotion, IEEE Trans. Robotics, vol. 26, no. 5, pp. 781-799, Oct 2010.
  • P. Liljebäck, Ø. Stavdahl, and K. Y. Pettersen, Modular pneumatic snake robot: 3D modelling, implementation and control, Modeling, Identification and Control (MIC), vol. 29, no. 1, pp. 21-28, Jan 2008.
  • A. A. Transeth, K. Y. Pettersen, and P. Liljebäck, A survey on snake robot modeling and locomotion, Robotica, vol. 27, pp. 999-1015, 2008.
  • A. A. Transeth, R. I. Leine, C. Glocker, K. Y. Pettersen, and P. Liljebäck, Snake robot obstacle aided locomotion: Modeling, simulations, and experiments, IEEE Trans. Robot., vol. 24, no. 1, pp. 88-104, February 2008.
  • A. A. Transeth, R. I. Leine, Ch. Glocker and K. Y. Pettersen, 3D Snake Robot Motion: Non-smooth Modeling, Simulations, and Experiments, IEEE Trans. Robot., vol. 24, no. 2, pp. 361-376, 2008.
  • A. A. Transeth, P. Liljebäck, S. A. Fjerdingen, and E. Kyrkjebø, Cognitive challenges in snake robotics, in 4th Int. Conf. on Cognitive Systems, Zürich, Switzerland, Jan 27-28, 2010.
  • P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, Path following control of snake robots in unstructured environments, in Proc. IEEE Int. Conf. Robotics and Automation, Shanghai, China, 2011.
  • P. Liljebäck and K. Y. Pettersen, Waypoint guidance control of snake robots, in Proc. IEEE Int. Conf. Robotics and Automation, Shanghai, China, 2011.
  • P. Liljebäck, I. U. Haugstuen, and K. Y. Pettersen, Experimental investigation of a path following controller for planar snake robots, in Proc. IEEE Int. Conf. Control, Automation, Robotics, and Vision (ICARCV), Singapore, 2010, pp. 2325-2332.
  • P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, Experimental investigation of fundamental properties of snake robot locomotion, in Proc. IEEE Int. Conf. Control, Automation, Robotics, and Vision (ICARCV), Singapore, 2010, pp. 187-194, Finalist for the Best Paper Award.
  • P. Liljebäck, I. U. Haugstuen, and K. Y. Pettersen, Path following control of planar snake robots using a cascaded approach, in Proc. IEEE Conf. Decision and Control, Atlanta, GA,
    USA, 2010, pp. 1969-1976.
  • P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, Stability analysis of snake robot locomotion based on averaging theory, in Proc. IEEE Conf. Decision and Control, Atlanta, GA, USA, 2010, pp. 1977-1984.
  • P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, Fundamental properties of snake robot locomotion, in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Taipei, Taiwan, 2010, pp. 2876-2883.
  • P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, A simplified model of planar snake robot locomotion, in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, Taipei, Taiwan, 2010, pp. 2868-2875.
  • P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, A hybrid model of obstacle-aided snake robot locomotion, in Proc. IEEE Int. Conf. Robotics and Automation, Anchorage, AK, USA, 2010, pp. 675-682.
  • P. Liljebäck, K. Y. Pettersen, and Ø. Stavdahl, A snake robot with a contact force measurement system for obstacle-aided locomotion, in Proc. IEEE Int. Conf. Robotics and Automation, Anchorage, AK, USA, 2010, pp. 683-690.
  • P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, Controllability analysis of planar snake robots influenced by viscous ground friction, in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, St. Louis, MO, USA, 2009, pp. 3615-3622.
  • P. Liljebäck, K. Y. Pettersen, Ø. Stavdahl, and J. T. Gravdahl, Stability analysis of snake robot locomotion based on Poincaré maps, in Proc. IEEE/RSJ Int. Conf. Intelligent Robots and Systems, St. Louis, MO, USA, 2009, pp. 3623-3630.
  • P. Liljebäck, S. Fjerdingen, K. Y. Pettersen, and Ø. Stavdahl, A snake robot joint mechanism with a contact force measurement system, in Proc. IEEE Int. Conf. Robotics and Automation, Kobe, Japan, 2009, pp. 3815-3820.
  • P. Liljebäck, K. Y. Pettersen, and Ø. Stavdahl, Modelling and control of obstacle-aided snake robot locomotion based on jam resolution, in Proc. IEEE Int. Conf. Robotics and Automation, Kobe, Japan, 2009, pp. 3807-3814.
  • Fjerdingen Sigurd Aksnes, Mathiassen John Reidar, Schumann-Olsen Henrik, Kyrkjebø Erik (2008). Adaptive Snake Robot Locomotion: A Benchmarking Facility for Experiments. European Robotics Symposium 2008. (s. 13-22). Heidelberg: Springer.
  • A. A. Transeth, N. van de Wouw, A. Pavlov, J. P. Hespanha, and K. Y. Pettersen, Tracking Control for Snake Robot Joints, in Proc. IEEE/RSJ Int. Conf. on Intelligent Robots and Systems (IROS'07), San Diego, CA, USA, Oct 29 - Nov 2, 2007, pp. 3539-3546.
  • A. A. Transeth, R. I. Leine, Ch. Glocker, and K. Y. Pettersen, Non-smooth 3D Modeling of a Snake Robot with Frictional Unilateral Constraints, in Proc. IEEE Int. Conf. on Robotics and Biomimetics (ROBIO'06), Kunming, China, Dec 2006, pp. 1181-1188.
  • Transeth, A. A., R. I. Leine, Ch. Glocker, and K. Y. Pettersen, Non-smooth 3D Modeling of a Snake Robot with External Obstacles, in Proc. IEEE Int. Conf. on Robotics and Biomimetics (ROBIO'06), Kunming, China, Dec 2006, pp. 1189-1196.
  • Transeth, A. A. and K. Y. Pettersen, Developments in Snake Robot Modeling and Locomotion, in Proc. IEEE Int. Conf. on Control, Automation, Robotics, and Vision (ICARCV'06), Singapore, Dec 2006, pp. 1393-1400.
  • P. Liljebäck, Ø. Stavdahl, and A. Beitnes, SnakeFighter - Development of a water hydraulic fire fighting snake robot, in Proc. IEEE Int. Conf. Control, Automation, Robotics, and Vision (ICARCV), Singapore, Dec 2006.
  • P. Liljebäck, Ø. Stavdahl, and K. Y. Pettersen, Modular pneumatic snake robot: 3D modelling, implementation and control, in Proc. 16th IFAC World Congress, Prague, Czech Republic, July 2005.

Biped Walking Robots



  • Pchelkin, Stepan; Shiriaev, Anton; Freidovich, Leonid; Mettin, Uwe; Gusev, Sergei; Kwon, Woong. Natural sit-down and chair-rise motions for a humanoid robot. IEEE Proceedings : Conference on Decision and Control (CDC) 2010 s. 1136-1141.
  • Freidovich, Leonid; Shiriaev, Anton. Analysis of limit-cycle walking for a compass-like biped robot. Elsevier IFAC Publications / IFAC Proceedings series 2010.
  • La Hera, Pedro; Shiriaev, Anton; Freidovich, Leonid; Mettin, Uwe. Gait synthesis for a three-link planar biped walker with one actuator. Proceedings / IEEE International Conference on Robotics and Automation 2010 s. 1715-1720.
  • La Hera, Pedro; Freidovich, Leonid; Shiriaev, Anton; Mettin, Uwe. Traversing from point-to-point along a straight line with a ballbot. Elsevier IFAC Publications / IFAC Proceedings series 2010.
  • Shiriaev, Anton; Freidovich, LB; Gusev, Sergey. Transverse Linearization for Controlled Mechanical Systems With Several Passive Degrees of Freedom. IEEE Transactions on Automatic Control 2010 ;Volum 55.(4) s. 893-906.
  • Shiriaev, Anton; Freidovich, LB. Transverse Linearization for Impulsive Mechanical Systems With One Passive Link. IEEE Transactions on Automatic Control 2009 ;Volum 54.(12) s. 2882-2888.
  • Freidovich, LB; Mettin, U; Shiriaev, Anton; Spong, MW. A Passive 2-DOF Walker: Hunting for Gaits Using Virtual Holonomic Constraints. IEEE transactions on robotics and automation 2009 ;Volum 25.(5) s. 1202-1208.
  • Freidovich, Leonid; Shiriaev, Anton. Transverse Linearization for Mechanical Systems with Passive Links, Impulse Effects, and Friction Forces. IEEE Proceedings : Conference on Decision and Control (CDC) 2009 s. 6490-6495.
  • Freidovich, Leonid; Mettin, Uwe; Shiriaev, Anton; Spong, Mark. A Passive 2DOF Walker: Finding Gait Cycles Using Virtual Holonomic Constraints. IEEE Proceedings : Conference on Decision and Control (CDC) 2008 s. 5214-5219.
  • Shiriaev, Anton; Freidovich, Leonid; Manchester, Ian. Can we make a robot ballerina perform a pirouette? Orbital stabilization of periodic motions of underactuated mechanical systems. Annual Reviews in Control 2008 ;Volum 32.(2) s. 200-211.
  • Freidovich, Leonid; Shiriaev, Anton; Manchester, Ian. Stability Analysis and Control Design for an Underactuated Walking Robot via Computation of a Transverse Linearization. The 17th IFAC World Congress. Elsevier IFAC Publications / IFAC Proceedings series 2008 s. 1066-1071.
  • Mettin, Uwe; La Hera, Pedro; Freidovich, Leonid; Shiriaev, Anton; Helbo, Jan. Motion planning for humanoid robots based virtual constraints extracted from recorded human movements. International Journal of Intelligent Service Robotics 2008 ;Volum 1.(4) s. 289-301.
  • Mettin, Uwe; La Hera, Pedro; Freidovich, Leonid; Shiriaev, Anton. How Springs Can Help to Stabilize Motions of Underactuated Systems with Weak Actuators. IEEE Proceedings : Conference on Decision and Control (CDC) 2008 s. 4963-4968.
  • Shiriaev, Anton; Freidovich, Leonid; Manchester, Ian. Periodic Motion Planning and Analytical Computation of Transverse Linearizations for Hybrid Mechanical Systems. IEEE Proceedings : Conference on Decision and Control (CDC) 2008 s. 4326-4331.
  • Mettin, Uwe; La Hera, Pedro; Freidovich, Leonid; Shiriaev, Anton. Generating Human-like Motions for an Under-actuated Humanoid Robot Based on the Virtual Constraints Approach. the 13th International Conference on Advanced Robotics (ICAR 2007); 2007.
  • Mettin, Uwe; La Hera, Pedro; Freidovich, Leonid; Shiriaev, Anton. Generating Human-like Motions for an Underactuated Three-Link Robot Based on the Virtual Constraints Approach. IEEE Proceedings : Conference on Decision and Control (CDC) 2007.

Robotic Marine Vehicles (Ships, AUVs, ROVs, USVs)



  • Burger, Mernout; Pavlov, Alexey; Pettersen, Kristin Ytterstad. Curved Trajectory Tracking for Surface Vessels under Constant External Disturbances. Elsevier IFAC Publications / IFAC Proceedings series 2010.
  • Burger, Mernout; Pettersen, Kristin Ytterstad. Smooth Transitions Between Trajectory Tracking and Path Following for Single Vehicles and Formations. Elsevier IFAC Publications / IFAC Proceedings series 2010.
  • Burger, Mernout; Pettersen, Kristin Ytterstad. Trajectory Tracking for Marine Vehicles under Constant Disturbances: Controller Design and Tuning. OCEANS Conference Record 2010.
  • Fjerdingen, S.A., Kyrkjebø, E., Transeth, A.A., AUV Pipeline Following using Reinforcement Learning, in Proc. Int. Symp. on Robotics, München, Germany, June 8-11, 2010, pp. 310-317.
  • Pettersen, Kristin Ytterstad. Path Following, Coordinated and Cooperative Control of Marine robots. Workshop on Recent developments in Marine Robotics.; 2009.
  • Burger, Mernout; Pavlov, Alexey; Børhaug, Even; Pettersen, Kristin Ytterstad. Straight Line Path Following for Formations of Underactuated Surface Vessels Under Influence of Constant Ocean Currents. American Control Conference (ACC) 2009 s. 3065-3070.
  • Burger, Mernout; Pavlov, Alexey; Pettersen, Kristin Ytterstad. Conditional Integrators for Path Following and Formation Control of Marine Vessels under Constant Disturbances. Elsevier IFAC Publications / IFAC Proceedings series 2009 s. 179-184.
  • Burger, Mernout; Pavlov, Alexey; Pettersen, Kristin Ytterstad. Maritime Surveillance and Monitoring using Autonomous Vehicles with Conditional Integrator Based Control. OCEANS Conference Record 2009.
  • Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. A Kinematic versus Dynamic Observer Approach to Coordination Control in terms of Estimation Principle and Practical Performance. European Control Conference 2009.
  • Antonelli, G.; Fossen, Thor I.; Yoerger, D.. Underwater Robotics. Chapter 43.2 in: "Handbook on Robotics". Springer 2008 (ISBN 978-3-540-23957-4) 1375 s.
  • Børhaug, Even; Pavlov, Alexey; Pettersen, Kristin Ytterstad. Integral LOS Control for Path Following of Underactuated Marine Surface Vessels in the Presence of Constant Ocean Currents. IEEE Proceedings : Conference on Decision and Control (CDC) 2008.
  • J.E. Refsnes, A.J. Sørensen and K.Y. Pettersen, Model-Based Output Feedback Control of Slender-Body Underactuated AUVs: Theory and Experiments, in IEEE Transactions on Control Systems Technology, Vol. 16, No. 5, 2008, pp. 930 – 946.
  • Paul, Tobias; Krogstad, Thomas Røbekk; Gravdahl, Jan Tommy. Modelling of UAV formation flight using 3D potential field. Simulation (San Diego, Calif.) 2008 ;Volum 16.(9) s. 1453-1462.
  • Alminde, Lars; Bendtsen, Jan Dimon; Stoustrup, Jakob; Pettersen, Kristin Ytterstad. Objective directed control using local minimisation for an autonomous underwater vehicle. Elsevier IFAC Publications / IFAC Proceedings series 2007.
  • Børhaug, Even; Pavlov, Alexey; Pettersen, Kristin Ytterstad. Straight line path following for formations of underactuated underwater vehicles. IEEE Proceedings : Conference on Decision and Control (CDC) 2007.
  • Børhaug, Even; Pivano, Luca; Johansen, Tor Arne; Pettersen, Kristin Ytterstad. A Model-based Ocean Current Observer for 6DOF Underwater Vehicles. Elsevier IFAC Publications / IFAC Proceedings series 2007.
  • Holden, Christian; Pettersen, Kristin Ytterstad. Robust Globally Exponentially Stabilizing Control Law for Fully Actuated 6-DOF AUVs. Conference on Control Applications in Marine Systems 2007.
  • Kyrkjebø, Erik; Pettersen, Kristin Ytterstad; Wondergem, Michiel; Nijmeijer, Henk. Output Synchronization Control of Ship Replenishment Operations: Theory and Experiments. Control Engineering Practice 2007 ;Volum 15.(6) s. 741-755.
  • Pavlov, Alexey; Børhaug, Even; Panteley, Elena; Pettersen, Kristin Ytterstad. Straigh line path following for formation of underactuated surface vessels. 7th IFAC Symposium on Nonlinear Control Systems; 2007.
  • Refsnes, Jon E. Gorset; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. A six DOF nonlinear observer for AUVs with experimental results. Mediterranean Conference on Control and Automation, MED'07; 2007.
  • Refsnes, Jon E. Gorset; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. Output feedback control of an AUV with experimental results. Mediterranean Conference on Control and Automation, MED'07.; 2007.
  • Refsnes, Jon E. Gorset; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. Output feedback control of slender body underwater vehicles with current estiamtion. International Journal of Control 2007 ;Volum 80.(7) s. 1136-1150.
  • Refsnes, Jon E. Gorset; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. Output feedback control of underwater vehicles with current estimation. International Journal of Control 2007 ;Volum 80.(7) s. 1136-1150.
  • Manchester, Ian; Shiriaev, Anton; Savkin, Andrey. On Motion Planning for an Underactuated Ship: Fundamental Limitations and a Bearings-Only Navigation Strategy. IEEE Proceedings : Conference on Decision and Control (CDC) 2007.
  • Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Nijmeijer, Henk. Group Coordination and Cooperative Control. Springer 2006 (ISBN 3-540-33468-8) ;Volum 336.310 s. Lecture notes in control and information sciences(May 2006).
  • Kyrkjebø, Erik; Panteley, Elena; Chaillet, Antoine; Pettersen, Kristin Ytterstad. A virtual vehicle approach to underway replenishment. Lecture notes in control and information sciences 2006 ;Volum 336. s. 171-189.
  • Arrichiello, F; Chiaverini, Stefano; Fossen, Thor Inge. Formation control of marine surface vessels using the Null-space-Based behavioral control. Lecture notes in control and information sciences 2006 ;Volum 336. s. 1-19.
  • Børhaug, Even; Ghabcheloo, Reza; Pavlov, Alexey; Pettersen, Kristin Ytterstad; Pascoal, Antonio; Silvestre, Carlos. Formation Control of Underactuated Marine Vehicles with Communication Constraints. Elsevier IFAC Publications / IFAC Proceedings series 2006.
  • Børhaug, Even; Pavlov, Alexey; Pettersen, Kristin Ytterstad. Cross-track formation control of underactuated autonomous underwater vehicles. Lecture notes in control and information sciences 2006 ;Volum 336. s. 35-54.
  • Børhaug, Even; Pavlov, Alexey; Pettersen, Kristin Ytterstad. Cross-track formation control of underactuated surface vessels. IEEE Proceedings : Conference on Decision and Control (CDC) 2006 .
  • Børhaug, Even; Pettersen, Kristin Ytterstad. Formation control of 6-DOF Euler-Lagrange systems with restricted inter-vehicle communication. IEEE Proceedings : Conference on Decision and Control (CDC) 2006.
  • Børhaug, Even; Pettersen, Kristin Ytterstad. LOS Path Following for Underactuated Underwater Vehicle. Elsevier IFAC Publications / IFAC Proceedings series 2006.
  • Børhaug, Even; Pettersen, Kristin Ytterstad; Pavlov, Alexey. An optimal guidance scheme for cross-track control of underactuated underwater vehicles. Mediterranean Conference on Control and Automation; 2006.
  • Fredriksen, Espen; Pettersen, Kristin Ytterstad. Global K-exponential way-point maneuvering of ships: Theory and experiments. Automatica 2006 ;Volum 42.(4) s. 677-687.
  • Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. A Virtual Vehicle Approach to Output Synchronization Control. IEEE Proceedings : Conference on Decision and Control (CDC) 2006 s. 6016-6021.
  • Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. Leader-follower Dynamic Synchronization of Surface Vessels. 7th IFAC Conference on Manoeuvring and Control of Marine Craft; 2006.
  • Refsnes, Jon E Gorset; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan. Control of slender body underactuated AUVs with current estimation. IEEE Proceedings : Conference on Decision and Control (CDC) 2006 s. 43-50.
  • Refsnes, Jon E Gorset; Pettersen, Kristin Ytterstad; Sørensen, Asgeir Johan. Observer design for underwater vehicles with position and angle measurement. Conference on Manoeuvring and Control of Marine Craft; 2006.
  • Refsnes, Jon E Gorset; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. Robust observer design for underwater vehicles. Proceedings of the IEEE Conference on Control Applications 2006 s. 313-319.
  • Refsnes, Jon E Gorset; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. Weather optimal dynamic positioning of underactuated AUVs using output feedback control. Conference on Manoeuvring and Control of Marine Craft; 2006.
  • Fossen, Thor Inge. A Nonlinear Unified State-Space Model for Ship Maneuvering and Control in a Seaway. International Journal of Bifurcation and Chaos in Applied Sciences and Engineering 2005 ;Volum 15.(9) s. 2717-2747.
  • Smogeli, Øyvind Notland; Perez, Tristan; Fossen, Thor Inge; Sørensen, Asgeir Johan. The Marine Systems Simulator State-Space Model Representation for Dynamically Positioned Surface Vessels. 12th International Congress of the Maritime Association of the Mediterranean (IMAM 2005); 2005.
  • Bondhus, Anne Karin; Pettersen, Kristin Ytterstad. Control of ship replenishment by output feedback synchronization. OCEANS Conference Record 2005.
  • Børhaug, Even; Pettersen, Kristin Ytterstad. Cross-track control for underactuated autonomous vehicles. IEEE Proceedings : Conference on Decision and Control (CDC) 2005.
  • Børhaug, Even; Pettersen, Kristin Ytterstad. Adaptive way-point tracking control for underactuated autonomous vehicles. IEEE Proceedings : Conference on Decision and Control (CDC) 2005.
  • Refsnes, Jon E Rosenberg; Sørensen, Asgeir Johan; Pettersen, Kristin Ytterstad. Design of Output-feedback Control System for High Speed Maneuvering of an Underwater Vehicle. In Proceedings of OCEANS'05 MTS/IEEE; 2005.
  • Pettersen, Kristin Ytterstad; Mazenc, F; Nijmeijer, H. Global uniform asymptotic stabilization of an underactuated surface vessel: Experimental results. IEEE Transactions on Control Systems Technology 2004 ;Volum 12.(6) s. 891-903.
  • Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. MVT: A Marine Visualization Toolbox for MATLAB. IFAC Conference on Control Applications in Marine System; 2004.
  • Fredriksen, Espen; Pettersen, Kristin Ytterstad. Global kappa-exponential way-point manoeuvering of ships. IEEE Proceedings : Conference on Decision and Control (CDC) 2004 ;Volum 5. s. 5360-5367.
  • Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. Experimental results on synchronization control of ship rendez-vous operations. IFAC Conference on Control Applications in Marine System; 2004.
  • Kyrkjebø, Erik; Pettersen, Kristin Ytterstad. Ship Replenishment using Synchronization Control. 6th Conference on Manoeuvring and Control of Marine Crafts; 2003.
  • Mazenc, F.; Pettersen, Kristin Ytterstad; Nijmeijer, H. Global Uniform Asymptotic Stabilization of an underactuated surface vessel. IEEE Transactions on Automatic Control 2002 ;Volum 47.(10) s. 1759-1762.
  • Fantoni, Isabelle; Lozano, Rogelio; Mazenc, Frédéric; Pettersen, Kristin Ytterstad. Stabilization of a Nonlinear Underactuated Hovercraft. International Journal of Robust and Nonlinear Control 2000 ;Volum 10.(8) s. 645-654.
  • Pettersen, Kristin Ytterstad; Fossen, Thor Inge. Underactuated Dynamic Positioning of a Ship - Experimental Results. IEEE Transactions on Control Systems Technology 2000 ;Volum 8.(5) s. 856-863.
  • Pettersen, Kristin Ytterstad; Nijmeijer, H.. Global practical stabilization and tracking for an underactuated ship : a combined averaging and backstepping approach. Modeling, Identification and Control 1999 ;Volum 20.(4) s. 189-199.
  • Pettersen, Kristin Ytterstad; Egeland, Olav. Exponential stabilization of an underactuated surface vessel. Modeling, Identification and Control 1997 ;Volum 18.(3) s. 239-248.

Space Robotics



  • Grøtli, Esten Ingar; Chaillet, Antoine; Panteley, Elena; Gravdahl, Jan Tommy. Robustness of ISS Systems to Inputs with Limited Moving Average, with Application to Spacecraft Formations. International Conference on Informatics in Control, Automation and Robotics; 2010.
  • From, Pål Johan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. Singularity-Free Dynamic Equations of Spacecraft-Manipulator Systems. International astronautical congress : Proceedings 2010.
  • Krogstad, Thomas Røbekk; Gravdahl, Jan Tommy. Output feedback control of relative spacecraft attitude. European Control Conference; 2009.
  • Kristiansen, R; Nicklasson, PJ; Gravdahl, Jan Tommy. Satellite, Attitude Control by Quaternion-Based Backstepping. IEEE Transactions on Control Systems Technology 2009 ;Volum 17.(1) s. 227-232.
  • Kristiansen, Raymond; Nicklasson, Per Johan; Gravdahl, Jan Tommy. Spacecraft coordination control in 6DOF: integrator backstepping vs passivity-based control. Automatica 2008 ;Volum 44.(11) s. 2896-2901.
  • Grøtli, Esten Ingar; Chaillet, Antoine; Gravdahl, Jan Tommy. Output Control of Spacecraft in Leader Follower Formation. IEEE Proceedings : Conference on Decision and Control (CDC) 2008 s. 1030-1035.
  • Grøtli, Esten Ingar; Gravdahl, Jan Tommy. Output attitude tracking of formation of spacecraft. Elsevier IFAC Publications / IFAC Proceedings series 2008 s. 2137-2143.
  • Kristiansen, Raymond; Krogstad, Thomas Røbekk; Nicklasson, Per Johan; Gravdahl, Jan Tommy. PID+ tracking in a leader-follower spacecraft formation. 3rd international symposium on formation flying, missions and technologies; 2008.
  • Krogstad, Thomas Røbekk; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Børhaug, Even. AUVSAT - an experimental platform for spacecraft formation flying. International astronautical congress : Proceedings 2008.
  • Grøtli, Esten Ingar; Gravdahl, Jan Tommy. Passivity based controller-observer schemes for relative translation of a formation of spacecraft. American Control Conference (ACC) 2007 s. 4684-4689.
  • Kristiansen, Raymond; Grøtli, Esten Ingar; Nicklasson, Per J.; Gravdahl, Jan Tommy. A model of relative translation and rotation in leader-follower spacecraft formations. Modeling, Identification and Control 2007 ;Volum 28.(1).
  • Kristiansen, Raymond; Krogstad, Thomas Røbekk; Nicklasson, Per J.; Gravdahl, Jan Tommy. Spacecraft coordination control using PID backstepping. Elsevier IFAC Publications / IFAC Proceedings series 2007.
  • Kristiansen, Raymond; Nicklasson, Per J.; Gravdahl, Jan Tommy. Formation Modelling and 6DOF Spacecraft Coordination Control. American Control Conference (ACC) 2007.
  • Krogstad, Thomas Røbekk; Kristiansen, Raymond; Gravdahl, Jan Tommy; Nicklasson, Per J.. PID+ backstepping control of relative spacecraft attitude. 7th IFAC Symposium on Nonlinear Control Systems (NOLCOS); 2007.
  • Kristiansen, Raymond; Nicklasson, Per Johan; Gravdahl, Jan Tommy. Quaternion-Based Backstepping Control of Relative Attitude in a Spacecraft Formation. IEEE Proceedings : Conference on Decision and Control (CDC) 2006.
  • Krogstad, Thomas Røbekk; Gravdahl, Jan Tommy. 6-DOF mutual synchronization of formation flying spacecraft. IEEE Proceedings : Conference on Decision and Control (CDC) 2006 s. 5706-5711.
  • Krogstad, Thomas Røbekk; Gravdahl, Jan Tommy. Coordinated attitude control of satellites in formation. Lecture notes in control and information sciences 2006 ;Volum 336. s. 153-170.
  • Hegrenæs, Øyvind; Gravdahl, Jan Tommy; Tøndel, Johan Petter. Spacecraft Attitude Control using Explicit Model Predictive Control. Automatica 2005 ;Volum 41.(12) s. 2107-2114.
  • Grøtli, Esten Ingar; Gravdahl, Jan Tommy. Coordinated control of satellites: the relative position case. Space Technology Education Conference, STEC2005; 2005.
  • Bondhus, Anne Karin; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy. Leader/Follower synchronization of satellite attitude without angular velocity measurements. IEEE Proceedings : Conference on Decision and Control (CDC) 2005.
  • Hegrenæs, Øyvind; Gravdahl, Jan Tommy; Tøndel, Johan Petter. Attitude Control by means of Explicit Model Predictive Control, via Multi-parametric Quadratic Programming. American Control Conference (ACC) 2005.
  • Kristiansen, Raymond; Grøtli, Esten Ingar; Nicklasson, Per Johan; Gravdahl, Jan Tommy. A model of relative position and attitude in a leader-follower spacecraft formation. SIMS 2005 46th Conference on Simulation and Modeling; 2005.
  • Kristiansen, Raymond; Nicklasson, Per Johan; Gravdahl, Jan Tommy. Satellite attitude tracking by quaternion-based backstepping. IFAC World Congress; 2005.
  • Krogstad, Thomas; Gravdahl, Jan Tommy; Tøndel, Johan Petter. Attitude control and stability analysis of satellites in earth and moon orbit. Space Technology Education Conference, STEC2005; 2005.
  • Krogstad, Thomas; Gravdahl, Jan Tommy; Tøndel, Johan Petter. Explicit model predictive control of a satellite with magnetic torquers. The 13th Mediterranean Conference on Control and Automation; 2005.
  • Krogstad, Thomas Røbekk; Gravdahl, Jan Tommy; Kristiansen, Raymond. Coordinated control of satellites: the attitude case. 56th International Astronautical Congress; 2005.
  • Krøvel, Trond Dagfinn; Gravdahl, Jan Tommy. Pulse Width-Pulse Frequency Modulation of Thrusters for the Micro-Satellite SSETI/ESMO. Technology Education Conference, STEC2005; 2005.
  • Sunde, Bernt-Ove; Gravdahl, Jan Tommy. Attitude Determination for the student satellite nCubeII: Kalman Filter. 56th International Astronautical Congress; 2005.
  • Gravdahl, Jan Tommy. Magnetic attitude control for satellites. 43rd IEEE Conference on Decition and Control; 2004.
  • Topland, Morten; Gravdahl, Jan Tommy. Nonlinear attitude control of the microsatellite ESEO. The 55th International Astronautical Congress; 2004.
  • Øverby, Eli; Gravdahl, Jan Tommy; Ose, Stian; Fauske, Kjell Magne. nCube - Norwegian Student satellite: Attitude Determination and Control System. Space Technolgy Education Conference; 2004.
  • Gravdahl, Jan Tommy; Eide, Egil; Skavhaug, Amund; Svartveit, Kristian; Fauske, Kjell Magne; Indergaard, Fredrik. Three axis Attitude Determination and Control System for a picosatellite: Design and implementation. 54th International Astronautical Congress; 2003.

Medical Robotics



  • Scheme, Erik; Fougner, Anders Lyngvi; Chan, Adrian D. C.; Kyberd, Peter Joseph; Englehart, Kevin; Stavdahl, Øyvind. Adverse Effects of Limb Position on Myoelectric Control of Upper-Limb Prostheses. MITAT. Minimally invasive therapy & allied technologies 2010 ;Volum 19. Suppl. 1 s. 16-17.
  • Scheme, Erik; Fougner, Anders Lyngvi; Stavdahl, Øyvind; Chan, Adrian D. C.; Englehart, Kevin. Examining the Adverse Effects of Limb Position on Pattern Recognition Based Myoelectric Control. IEEE Engineering in Medicine and Biology Society. Conference Proceedings 2010.
  • Fougner, Anders Lyngvi; Kyberd, Peter Joseph; Stavdahl, Øyvind. EMG Feature Selection for Simultaneous Proportional Control of Multifunctional Upper-Limb Prostheses. ISPO 2010.
  • Fougner, Anders Lyngvi; Scheme, Erik; Chan, Adrian D. C.; Kyberd, Peter Joseph; Englehart, Kevin; Stavdahl, Øyvind. Adverse Effects of Limb Position on Myoelectric Control of Upper-Limb Prostheses. SMIT 2010.
  • Ottermo, Maria Vatshaug; Stavdahl, Øyvind; Johansen, Tor Arne. A remote palpation instrument for laparoscopic surgery: Design and performance. MITAT. Minimally invasive therapy & allied technologies 2009 ;Volum 1. s. 1-14.
  • Ottermo, Maria Vatshaug; Stavdahl, Øyvind; Johansen, Tor Arne. Design and Performance of a Prototype Tactile Display for Minimally Invasive Surgery. Haptics-e 2008 ;Volum 4.
  • Fougner, Anders; Sæther, Marthe; Stavdahl, Øyvind; Blum, Jeremy; Kyberd, Peter Joseph. Cancellation of Force Induced Artifacts in Surface EMG Using Force Measurements. Myoelectric Controls Symposium (MEC); 2008.
  • Stavdahl, Øyvind; Fougner, Anders; Kyberd, Peter Joseph. Simultaneous proportional control of multiple functions in upper-limb prosthesis. 12th World Congress of the International Society for Prosthetics and Orthotics; 2007.
  • Stavdahl, Øyvind; Zinc, Arthur Loran; Kyberd, Peter Joseph; Hill, Wendy; Busg, Greg. A prosthetic wrist with an oblique plane of motion to optimize device weight, size and functionality. 12th World Congress of the International Society for Prosthetics and Orthotics; 2007.
  • Ottermo, Maria Vatshaug; Øvstedal, Marit; Langø, Thomas; Stavdahl, Øyvind; Yavuz, Yunus; Johansen, Tor Arne; Mårvik, Ronald. The role of tactile feedback in laparoscopic surgery. Surgical laparoscopy, endoscopy & percutaneous techniques 2006 ;Volum 16.(6) s. 390-400.
  • Ottermo, Maria Vatshaug; Stavdahl, Øyvind; Johansen, Tor Arne. Electromechanical Design of a Miniature Tactile Shape Display for Minimally Invasive Surgery. WorldHaptics; 2005.
  • Stavdahl, Øyvind. The NTNU Revolute Wrist Device (NRWD): A Kinematically Optimized Externally Powered Wrist Prosthesis. 2005 Myoelectric Controls/Powered Prosthetics Symposium; 2005.
  • Stavdahl, Øyvind; Bondhus, Anne Karin; Pettersen, Kristin Ytterstad; Malvig, Kjell Erling. Optimal statistical operators for 3-dimensional rotational data: geometric interpretations and application to prosthesis kinematics. Robotica (Cambridge. Print) 2005 ;Volum 23.
  • Ottermo, Maria Vatshaug; Stavdahl, Øyvind; Johansen, Tor Arne. Palpation Instrument for Augmented Minimally Invasive Surgery. 2004 IEEE/RSJ International Conference on Intelligent Robots and Systems; 2004.
  • Austad, Arve; Elle, Ole Jakob; Malvig, Kjell Erling. Interactive planning and decision support system for robotic surgery. The society for medical innovation and technology: 14th Annual Scientific Meeting.; 2002.
  • Elle, Ole Jakob; Austad, Arve; Malvig, Kjell Erling. Collision avoidance in robot assisted surgery. 16th International Congress and Exhibition CARS 2002 Computer Assisted Radiology and Surgery; 2002.
  • Austad, Arve; Elle, Ole Jakob; Malvig, Kjell Erling. Computer aided planning of trocar placement and robot settings in robot assisted surgery. CARS 2001, Computer Assisted Radiology and Surgery. 15th International Congress and Exhibition; 2001.
  • Austad, Arve; Mårvik, Ronald; Malvig, Kjell Erling. Laparoscopic robot manipulators. 2nd Tele-Surgery Congress; 1999.
  • Austad, Arve; Pedersen, Eirik Milch; Mårvik, Ronald; Malvig, Kjell Erling. 3D-vision and robotic control in laparoscopic surgery. 2nd Tele-Surgery Congress; 1999.
  • Stavdahl, Øyvind; Witsø, Eivind; Malvig, Kjell Erling. ProPosition™: a proportional myoelectric hand prosthesis control system with internal position feedback. 8th World Congress of ISPO; 1995.

Factory Automation



  • Lien, Terje Kristoffer. Competitiveness through assembly automation in a high cost country. 3rd CIRP Conference on Assembly Technologies and Systems; 2010.
  • Lind, Morten; Schrimpf, Johannes; Ulleberg, Thomas. Open Real-Time Robot Controller Framework. Proceedings of the 3rd CIRP Conference on Assembly Technology and Systems - Responsive, customer demand driven, adaptive assembly. Tapir Akademisk Forlag 2010 ISBN 978-82-519-2616-4. s. 13-18.
  • Schrimpf, Johannes; Lind, Morten; Ulleberg, Thomas; Zhang, C.; Mathisen, Geir. Real-Time Sensor Servoing using Line-of-Sight Path Generation and Tool Orientation Control. Proceedings of the 3rd CIRP Conference on Assembly Technology and Systems - Responsive, customer demand driven, adaptive assembly. Tapir Akademisk Forlag 2010 ISBN 978-82-519-2616-4. s. 19-23.
  • Lind, Morten; Roulet-Dubonnet, Olivier. Emulation of Manufacturing Devices for Simulation of Distributed Real-Time Control. Proceedings of the 3rd CIRP Conference on Assembly Technology and Systems - Responsive, customer demand driven, adaptive assembly. Tapir Akademisk Forlag 2010 ISBN 978-82-519-2616-4. s. 67-72.
  • Roulet-Dubonnet, Olivier; Lind, Morten; Lien, Terje Kristoffer. Development of a low-cost prototype AGV. Proceedings of the 3rd CIRP Conference on Assembly Technology and Systems - Responsive, customer demand driven, adaptive assembly. Tapir Akademisk Forlag 2010 ISBN 978-82-519-2616-4. s. 25-29.
  • From, Pål Johan; Gravdahl, Jan Tommy. A Real-Time Algorithm to Determine the Optimal Paint Gun Orientation in Spray Paint Applications. IEEE Transactions on Automation Science and Engineering 2010 ;Volum 7.(4) s. 803-816.
  • Lind, Morten; Roulet-Dubonnet, Olivier; Nyen, Per Åge; Gellein, Lars Tore; Lien, Terje Kristoffer; Skavhaug, Amund. Holonic Manufacturing Paint Shop. Lecture Notes in Computer Science = Lecture notes in artificial intelligence 2009 ;Volum 5696/2009. s. 203-214.
  • Roulet-Dubonnet, Olivier; Lind, Morten; Gellein, Lars Tore; Nyen, Per Åge; Lien, Terje Kristoffer; Skavhaug, Amund. Development of a Holonic Free-Roaming AGV System for Part Manufacturing. Lecture Notes in Computer Science = Lecture notes in artificial intelligence 2009 ;Volum 5696. s. 215-224.
  • Krüger, Jörg; Lien, Terje Kristoffer; Verl, Alexander. Cooperation of human and machines in assembly lines. CIRP annals 2009 ;Volum 58.(2) s. 628-646.
  • Ulleberg, Thomas; Lind, Morten; Ystgaard, Pål; Lien, Terje Kristoffer. Assembly "End of line" Verification and Control of a Safety Component in Couplings for a Commercial Vehicle Air Brakes. 2nd CIRP Conference on Assembly Technologies and Systems; 2008.
  • Lien, Terje Kristoffer; Gjerstad, Tone Beate. A Reversible Thermal Flow Gripper for Non-Rigid Products. North American Manufacturing Research Conference; 2008.
  • Lien, Terje Kristoffer. A novel gripper for limp materials based on lateral Coanda grippers. CIRP Genreral Assembly; 2008.
  • Wetterwald Lars Erik , Dransfeld S , Raabe H , Ulleberg Thomas. Flexible Robotic Sewing with Real Time Adaptive Control. Proceeding 2nd Conference on Assembly Technologies and systems (CATS 2008). Toronto, Canada: Universität Stuttgart, Germany.
  • Lien, Terje Kristoffer; Lind, Morten. Instrumented fixtures for on-line correction of welding paths. Manufacturing Systems and Technologies for the New Frontier. Springer 2008 ISBN 978-1-84800-267-8. s. 435-438.
  • T. Ulleberg, M. Lind, L.E. Wetterwald, P. Ystgaard and T.K. Lien, Custom-designed industrial automation solutions, 2nd CIRP Conference on Assembly Technologies and Systems, Sept. 2008, Toronto, Canada.
  • Ponomareva, Ekaterina S.; Wang, Kesheng; Lien, Terje Kristoffer. Predicting assembly quality of complex structure using data mining. IFIP International Federation for Information Processing 2006 s. 263-268.
  • Gjerstad, Tone Beate; Lien, Terje Kristoffer; Buljo, Jan Olav. Handle of Non-Rigid Products using a Compact Needle Gripper. 39th CIRP International Seminar on Manufacturing Systems; 2006.
  • Hilmes, Richard; Lien, Terje Kristoffer. Application of PSDS in a development project. 39th CIRP International Seminar on Manufacturing Systems; 2006.
  • Hilmes, Richard; Lien, Terje Kristoffer. Production System Design Specification - a tool to improve competitiveness. 38th International Seminar on Manufacturing Systems; 2005.
  • Wang, Kesheng. Robot Kinematics Calibration Accuracy Using Genetic Algorithms. IPROMS 2005, Proceedings of Virtual International Conference on Intelligent Production Machine and Systems; 2005.
  • Wang, Kesheng. Artificial Neural Networks in Applications of Industrial Robots. The 11th China University Symposium of Manufacturing Automation; 2004.
  • Thomessen, Trygve; Lien, Terje Kristoffer; Johansen, Gry-Lene. Robot control system for light grinding applications. The 29th International Symposium on Robotics; 1998.

Nano Robotics



  • Eielsen, Arnfinn Aas; Gravdahl, Jan Tommy; Pettersen, Kristin Ytterstad; Vogl, Lukas. Tracking Control for a Piezoelectric Nanopositioner Using Estimated States and Feedforward Compensation of Hysteresis. 2010 IFAC Symposium on Mechatronic Systems; 2010.
  • Eielsen, Arnfinn Aas; Fleming, Andrew J. Passive Shunt Damping of a Piezoelectric Stack Nanopositioner. 2010 American Control Conference; 2010.

Other Types of Robots

  • La Hera, Pedro; Mettin, Uwe; Westerberg, Simon; Shiriaev, Anton. Modeling and control of hydraulic rotary actuators used in forestry cranes. Proceedings / IEEE International Conference on Robotics and Automation 2009 s. 1315-1320.
  • La Hera, Pedro; Freidovich, Leonid; Shiriaev, Anton; Mettin, Uwe. New approach for swinging up the Furuta pendulum: Theory and experiments. Mechatronics (Oxford) 2009 ;Volum 19.(8) s. 1240-1250.
  • Freidovich, L; Shiriaev, Anton; Gordillo, Fransisco; Gomez-Estern, Fabio; Aracil, Javier. Partial-Energy-Shaping Control for Orbital Stabilization of High-Frequency Oscillations of the Furuta Pendulum. IEEE Transactions on Control Systems Technology 2009 ;Volum 17.(4) s. 853-858.
  • Westerberg, Simon; Mettin, Uwe; Shiriaev, Anton; Freidovich, Leonid; Orlov, Yu.. Motion planning and control of a simplified helicopter model based on virtual holonomic constraints. International Conference on Advanced Robotics (ICAR) 2009.
  • Freidovich, L; Robertsson, A; Shiriaev, Anton; Johansson, R. Periodic motions of the Pendubot via virtual holonomic constraints: Theory and experiments. Automatica 2008 ;Volum 44. s. 785-791.
  • La Hera, Pedro; Mettin, Uwe; Manchester, Ian; Shiriaev, Anton. Identification and Control of a Hydraulic Forestry Crane. The 17th IFAC World Congress. Elsevier IFAC Publications / IFAC Proceedings series 2008 s. 2306-2311.
  • Westerberg, Simon; Manchester, Ian; Mettin, Uwe; La Hera, Pedro; Shiriaev, Anton. Virtual Environment Teleoperation of a Hydraulic Forestry Crane. Proceedings / IEEE International Conference on Robotics and Automation 2008 s. 4049-4054.
  • Shiriaev, Anton; Freidovich, Leonid; Robertsson, Anders; Johansson, Rolf; Sandberg, Anders. Virtual Holonomic Constraint Based Design of Stable Oscillations of Furuta pendulum: Theory and Experiments. IEEE transactions on robotics and automation 2007 ;Volum 23.(4) s. 827-832.
  • Breivik, Morten; Subbotin, Maxim V.; Fossen, Thor Inge. Guided Formation Control for Wheeled Mobile Robots. 9th International Conference on Control, Automation, Robotics and Vision; 2006.
  • Breivik, Morten; Fossen, Thor Inge. Guidance-Based Path Following for Wheeled Mobile Robots. Elsevier IFAC Publications / IFAC Proceedings series 2005.
  • Shiriaev, Anton S.; Pogromsky, A.; Ludvigsen, Halgeir; Egeland, Olav. On global properties of passivity-based control of an inverted pendulum. International Journal of Robust and Nonlinear Control 2000 ;Volum 10.(4) s. 283-300.