Browsing HVL Open by Author "Kyrkjebø, Erik"
Now showing items 1-9 of 9
-
AUV Pipeline Following using Reinforcement Learning
Fjerdingen, Sigurd Aksnes; Kyrkjebø, Erik; Transeth, Aksel Andreas (Chapter, 2010)This paper analyzes the application of several reinforcement learning techniques for continuous state and action spaces to pipeline following for an autonomous underwater vehicle (AUV). Continuous space SARSA is compared ... -
Dynamic and kinematic observers for output coordination control of Euler-Lagrange systems: A comparison and applications
Kyrkjebø, Erik (Journal article; Peer reviewed, 2015)This paper compares a dynamic and a kinematic observer approach for output coordination control of mechanical systems formulated in the Euler-Lagrange framework. The observers are designed to estimate missing velocity and ... -
Exploring human-robot cooperation with gamified user training: a user study on cooperative lifting
Venås, Gizem Ates; Stølen, Martin Fodstad; Kyrkjebø, Erik (Peer reviewed; Journal article, 2024)Human-robot cooperation (HRC) is becoming increasingly relevant with the surge in collaborative robots (cobots) for industrial applications. Examples of humans and robots cooperating actively on the same workpiece can be ... -
Feasibility of the UR5 Industrial Robot for Robotic Rehabilitation of the Upper Limbs After Stroke
Kyrkjebø, Erik; Laastad, Mads Johan; Stavdahl, Øyvind (Journal article; Peer reviewed, 2018)Robot-assisted therapy is an emerging form of rehabilitation treatment for motor recovery of the upper limbs after neurological injuries such as stroke or spinal cord injury. Robotic rehabilitation devices have the potential ... -
A Guide to Student-active Online Learning in Engineering
Kyrkjebø, Erik (Peer reviewed; Journal article, 2020)Online learning in higher education is becoming increasingly common as the possibilities of the available digital infrastructure expand. A recent emergent driver for online learning is the closing of universities to limit ... -
Inertial Human Motion Estimation for Physical Human-Robot Interaction Using an Interaction Velocity Update to Reduce Drift
Kyrkjebø, Erik (Chapter, 2018)Robots used for physical human-robot interaction (pHRI) are currently advancing from being simple stand-alone manipulators passing tools or parts to human collaborators to becoming autonomous co-workers that continuously ... -
Priors Inspired by Speed-Accuracy Trade-Offs for Incremental Learning of Probabilistic Movement Primitives
Schäle, Daniel; Stølen, Martin Fodstad; Kyrkjebø, Erik (Chapter; Peer reviewed, 2021)Probabilistic Movement Primitives (ProMPs) model robot motor skills by capturing the mean and variance of a set of demonstrations provided by a human teacher. Such a probabilistic representation of motor skills is beneficial ... -
Programming Fine Manufacturing Tasks on Collaborative Robots: A Case Study on Industrial Gluing
Schäle, Daniel; Stølen, Martin F; Kyrkjebø, Erik (Peer reviewed; Journal article, 2023)This paper explores programming of fine manufacturing tasks using collaborative robots. We conduct a case study based on an industrial gluing task, comparing two programming approaches: Learning from Demonstration (LfD) ... -
Student Perspectives on Online Hybrid Learning in an Undergraduate Robotics Course
Kyrkjebø, Erik; Stølen, Martin F (Chapter; Peer reviewed, 2023)Many institutions in higher education worldwide are transforming classes into online courses, or into hybrid courses with students participating both physically in the classroom and digitally through video conferencing ...