Browsing NTNU Open by Author "Liljebäck, Pål"
Now showing items 21-33 of 33
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Modular Pneumatic Snakerobot: 3D Modelling, Implementation and Control
Liljebäck, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2005)This paper gives a treatment of various aspects related to snake locomotion. A mathematical model and a physical implementation of a modular snake robot are presented. A control strategy is also developed, yielding a ... -
Path Following Control of a Planar Snake Robot with an Exponentially Stabilizing Joint Control Law
Rezapour, Ehsan; Liljebäck, Pål (IFAC Proceedings series;8th IFAC Symposium on Intelligent Autonomous Vehicles, Journal article, 2013)This paper considers the problem of path following control of a planar snake robot without sideslip constraints. We use Lagrangian mechanics to derive the dynamical equations of motion of the system. The possibility of ... -
Path Following Control of Planar Snake Robots Using Virtual Holonomic Constraints
Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy (Chapter, 2013)This paper considers path following control of planar snake robots using virtual holonomic constraints. We first derive the Euler-Lagrange equations of motion of the snake robot. Moreover, we integrate the effects of ... -
Path following control of planar snake robots using virtual holonomic constraints: theory and experiments
Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy; Kelasidi, Eleni (Journal article; Peer reviewed, 2014-08-28)This paper considers path following control of planar snake robots using virtual holonomic constraints. In order to present a model-based path following control design for the snake robot, we first derive the Euler-Lagrange ... -
Path following control of planar snake robots using virtual holonomic constraints: theory and experiments
Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy; Kelasidi, Eleni (Journal article; Peer reviewed, 2014)This paper considers path following control of planar snake robots using virtual holonomic constraints. In order to present a model-based path following control design for the snake robot, we first derive the Euler-Lagrange ... -
Path Following, Obstacle Detection and Obstacle Avoidance for Thrusted Underwater Snake Robots
Kelasidi, Eleni; Moe, Signe; Pettersen, Kristin Ytterstad; Kohl, Anna M; Liljebäck, Pål; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2019)The use of unmanned underwater vehicles is steadily increasing for a variety of applications such as mapping, monitoring, inspection and intervention within several research fields and industries, e.g., oceanography, marine ... -
Path Planning for Perception-Driven Obstacle-Aided Snake Robot Locomotion
Hanssen, Christian; Transeth, Aksel Andreas; Sanfilippo, Filippo; Liljebäck, Pål; Stavdahl, Øyvind (Chapter, 2020)Development of snake robots have been motivated by the ability of snakes to move efficiently in unstructured and cluttered environments. A snake robot has the potential to utilise obstacles for generating locomotion, in ... -
Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities
Sanfilippo, Filippo; Azpiazu, Jon; Marafioti, Giancarlo; Transeth, Aksel Andreas; Stavdahl, Øyvind; Liljebäck, Pål (Journal article; Peer reviewed, 2017)In nature, snakes can gracefully traverse a wide range of different and complex environments. Snake robots that can mimic this behaviour could be fitted with sensors and transport tools to hazardous or confined areas that ... -
Reduced head steadiness in whiplash compared with non-traumatic neck pain
Woodhouse, Astrid; Liljebäck, Pål; Vasseljen, Ottar (Journal article; Peer reviewed, 2010)Objective: While sensorimotor alterations have been observed in patients with neck pain, it is uncertain whether such changes distinguish whiplash-associated disorders from chronic neck pain without trauma. The aim of this ... -
Snake Robots - From Biology to Nonlinear Control
Pettersen, Kristin Ytterstad; Liljebäck, Pål; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article, 2013)Inspired by the motion of biological snakes, this paper presents an overview of recent results in modelling and control of snake robots. The objective of the research underlying this paper is to contribute to the mathematical ... -
SnakeSIM: a ROS-based Rapid-Prototyping Framework for Perception-Driven Obstacle-Aided Locomotion of Snake Robots
Sanfilippo, Filippo; Stavdahl, Øyvind; Liljebäck, Pål (Chapter, 2017)Biological snakes are capable of exploiting roughness in the terrain for locomotion. This feature allows them to adapt to different types of environments. Snake robots that can mimic this behaviour could be fitted with ... -
SnakeSIM: a ROS‑based Control and Simulation Framework for Perception‑Driven Obstacle‑Aided Locomotion of Snake Robots
Sanfilippo, Filippo; Stavdahl, Øyvind; Liljebäck, Pål (Journal article; Peer reviewed, 2018)Biological snakes are capable of exploiting roughness in the terrain for locomotion. This feature allows them to adapt to different types of environments. Snake robots that can mimic this behaviour could be fitted with ... -
Styringsprinsipper for slangerobot ved hindringsbasert fremdrift
Olsen, Adrian (Master thesis, 2012)Denne studien undersøker hvorvidt en slangerobots form er optimal med hensyn til hindringsmiljøet den befinner seg i. Et spesielt fokus blir gitt til utfordringen med å finne et optimalt sett med kontaktkrefter gitt ...