Lill Maria Gjerde Johannessen

Norwegian University of Science and Technology

Papers

Total Citations

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About

Lill Maria Gjerde Johannessen is a robotics researcher whose work centers on the intersection of symbolic computation and rigid body dynamics, with a focus on enabling more efficient and accurate control, estimation, and simulation for robotic systems. Her most-cited contribution, “Robot Dynamics with URDF & CasADi” (2019, 9 citations), addresses a critical bottleneck in robotics: the manual derivation of dynamics parameters, which is both time-consuming and error-prone. Johannessen developed a software library that automatically generates symbolic rigid body dynamics from standard URDF robot descriptions using the CasADi optimization framework. This tool allows researchers and engineers to rapidly obtain fast, accurate evaluations of dynamics—a foundational requirement for advanced control strategies. While her citation count is modest, the practical utility of her work is significant, as it lowers the barrier to implementing model-based control in real-world robots. Johannessen’s contribution exemplifies how thoughtful software design can accelerate research in manipulation, locomotion, and human-robot interaction, making her a valuable resource for students and practitioners seeking to bridge theory and implementation in robot dynamics.