Blar i Institutt for realfag og industrisystemer på forfatter "Helgerud, Erlend"
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A robust two-feedback loops position control algorithm for compliant low-cost series elastic actuators
Hua, Tuan; Sanfilippo, Filippo; Helgerud, Erlend (Peer reviewed; Journal article, 2019)Elastic joints are considered to outperform rigid joints in terms of peak dynamics, collision tolerance, robustness, and energy efficiency. Therefore, intrinsically elastic joints have become progressively prominent over ... -
Serpens, a Low- Cost Snake Robot with Series Elastic Torque-Controlled Actuators and a Screw-Less Assembly Mechanism
Sanfilippo, Filippo; Helgerud, Erlend; Stadheim, Per Anders; Aronsen, Sondre Lieblein (Chapter, 2019)Even though a few examples of elastic snake robots exist, they are generally expensive and tailored to custom-made hardware/software components that are not openly available. In this work, Serpens, a newly-designed low-cost, ... -
Serpens: A Highly Compliant Low-Cost ROS-Based Snake Robot with Series Elastic Actuators, Stereoscopic Vision and a Screw-Less Assembly Mechanism
Sanfilippo, Filippo; Helgerud, Erlend; Stadheim, Per Anders; Aronsen, Sondre Lieblein (Peer reviewed; Journal article, 2019)Snake robot locomotion in a cluttered environment where the snake robot utilises a sensory-perceptual system to perceive the surrounding operational environment for means of propulsion is defined as perception-driven ...