This paper presents the design of a waterproof and mechanically robust joint module for the snake robot Mamba. The main contribution of the module is a custom-designed force/torque sensor based on strain gauges, which ...

Denne masteroppgaven legger frem, og implementerer, en arkitektur for et autonomt system som er i stand til kontektsbasert resonnering under inspeksjonsoppdrag utført med ubemannede undervannsfartøy. For å forenkle design- ...

This paper considers guidance-based motion control of planar snake robots using a dynamic feedback control law. We first present the Euler-Lagrange equations of motion of the robot. Subsequently, we introduce a dynamic ...

Snake robots are inspired by biological snakes in both shape and dynamical behavior. A snake robot is constructed by a chain of links, interconnected by revolute joints. By imitating gaits of biological snakes, the snake ...

This paper considers straight line path following control of wheel-less planar snake robots using sliding mode techniques. We first derive the Poincaré representation of the equations of motion of the robot using the ...

Increasing efficiency by improving locomotion methods is a key issue for underwater robots. Moreover, a number of different control design challenges must be solved to realize operational swimming robots for underwater ...

This paper proposes and experimentally validates a straight line path following controller for underwater snake robots in the presence of constant irrotational currents of unknown direction and magnitude. An integral ...

Lately there has been an increasing interest for subsea inspection and intervention tasks, and in particular on solutions which combine smaller size, increased flexibility and maneuverability, and decreased cost. Biologically ...

A simulator based on the Open Dynamics Engine (ODE) is presented in this report. The simulator is validated experimentally with varying results, but simulation speed and stability of the simulator is excellent. This report ...

This thesis is motivated by the long-term goal of developing snake robots which can move in unknown and challenging environments in order to support human intervention tasks. Inspired by biological snakes, snake robots ...