Stavdahl Øyvind

Publications (2)0 Total impact

• Source

  Available from: ntnu.no

  Article: Modular Pneumatic Snake Robot: 3D Modelling, Implementation And Control

  Liljebäck Pål, Stavdahl Øyvind, Kristin Y. Pettersen
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  ABSTRACT: This paper gives a treatment of various aspects related to snake locomotion. A mathematical model and a physical implementation of a modular snake robot are presented. A control strategy is also developed, yielding a general expression for different gait patterns. Two forms of locomotion have been simulated with the mathematical model, and experiments with the physical snake robot have been conducted. The simulation results revealed the parameter through which directional control may be achieved for each gait pattern. Experiments with the physical snake robot gave a crude qualitative verification of these findings.
  Modeling, Identification and Control. 01/2008;
• Article: Optimal Statistical Operations for 3-Dimensional Rotational Data: Geometric Interpretations and Application to Prosthesis Kinematics

  Stavdahl Øyvind, Anne K. Bondhus, Kristin Y. Pettersen, Kjell E. Malvig
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  ABSTRACT: Rotational data in the form of measured three-dimensional rotations or orientations arise naturally in many fields of science, including biomechanics, orthopaedics and robotics. The cyclic topology of rotation spaces calls for special care and considerations when performing statistical analysis of rotational data. Relevant theory has been developed during the last three decades, and has become a standard tool in some areas. In relation to the study of human kinematics and motion however, these concepts have hardly been put to use. This paper gives an introduction to the intricacies of three-dimensional rotations, and provides a thorough geometric interpretation of several approaches to averaging rotational data A set of novel, simple operators is presented. Simulations and a prosthetics-related real-world example involving wrist kinematics illuminate important aspects of the results. Finally generalizations and related subjects for further research are suggested.
  Modeling, Identification and Control. 01/2005;