| 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 | 2015-05-09T11:19:57Z | |
| dc.date.accessioned | 2015-07-10T11:50:04Z | |
| dc.date.available | 2015-05-09T11:19:57Z | |
| dc.date.available | 2015-07-10T11:50:04Z | |
| dc.date.issued | 2011 | |
| dc.identifier.citation | Proceedings / IEEE International Conference on Robotics and Automation 2011:503-510 | nb_NO |
| dc.identifier.isbn | 978-1-61284-386-5 | |
| dc.identifier.issn | 1050-4729 | |
| dc.identifier.uri | http://hdl.handle.net/11250/293074 | |
| dc.description.abstract | As a step towards enabling snake robots to move in unstructured environments, this paper considers control strategies where environment adaptation is combined with directional control of snake robot locomotion. The first contribution of the paper is a general framework for motion control of snake robots, which allows the motion to be specified in terms of a body wave component, an environment adaptation component, and a heading control component. As a second contribution, we employ the controller framework to propose a control law for straight line path following control of snake robots in environments with obstacles. The paper presents simulation results where the path following controller is combined with a waypoint guidance strategy in order to steer the snake robot between waypoints in an obstacle environment. | nb_NO |
| dc.language.iso | eng | nb_NO |
| dc.publisher | IEEE Conference Publications | nb_NO |
| dc.relation.ispartofseries | Proceedings / IEEE International Conference on Robotics and Automation; | |
| dc.rights | (c) 2011 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. | |
| dc.title | Path following control of snake robots in unstructured environments | nb_NO |
| dc.type | Journal article | nb_NO |
| dc.type | Peer reviewed | |
| dc.date.updated | 2015-05-09T11:19:57Z | |
| dc.description.version | acceptedVersion | |
| dc.rights.holder | Institute of Electrical and Electronics Engineers (IEEE) | |
| dc.source.pagenumber | 503-510 | nb_NO |
| dc.identifier.doi | 10.1109/ICRA.2011.5979566 | |
| dc.identifier.cristin | 875118 | |
| dc.description.localcode | (c) 2011 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 |
