dc.contributor.author | Liljeback, Pål | |
dc.contributor.author | Pettersen, Kristin Ytterstad | |
dc.contributor.author | Stavdahl, Øyvind | |
dc.contributor.author | Gravdahl, Jan Tommy | |
dc.date.accessioned | 2015-05-09T11:14:17Z | |
dc.date.accessioned | 2015-06-10T12:52:38Z | |
dc.date.available | 2015-05-09T11:14:17Z | |
dc.date.available | 2015-06-10T12:52:38Z | |
dc.date.issued | 2012 | |
dc.identifier.citation | IEEE International Conference on Intelligent Robots and Systems. Proceedings 2012, 2012:3111-3118 | nb_NO |
dc.identifier.issn | 2153-0866 | |
dc.identifier.uri | http://hdl.handle.net/11250/284877 | |
dc.description | - author postprint | nb_NO |
dc.description.abstract | This paper presents a control framework for shape control of snake robots for the purpose of locomotion. An advantage of the framework is that it allows the macroscopic shape of a snake robot to be controlled explicitly and intuitively. The framework is based on specifying the desired shape of the snake robot as a continuous shape curve defined by a set of shape control points interconnected by Bézier curves. We propose a novel approach for motion generation in which the shape curve is repeatedly extended according to a desired gait pattern while a virtual snake robot is progressed along the shape curve to retrieve joint reference angles for the physical snake robot. Practical applications of the proposed control framework are exemplified along with simulation results. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | IEEE | nb_NO |
dc.title | A control framework for snake robot locomotion based on shape control points interconnected by Bézier curves | nb_NO |
dc.type | Journal article | nb_NO |
dc.type | Peer reviewed | en_GB |
dc.date.updated | 2015-05-09T11:14:16Z | |
dc.source.pagenumber | 3111-3118 | nb_NO |
dc.source.journal | IEEE International Conference on Intelligent Robots and Systems. Proceedings | nb_NO |
dc.identifier.doi | 10.1109/IROS.2012.6386117 | |
dc.identifier.cristin | 979593 | |
dc.relation.project | Norges forskningsråd: 205622 | nb_NO |
dc.description.localcode | (c) 2012 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works. | nb_NO |