• Snake Robot Locomotion in Environments With Obstacles 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2012)
      As a step toward enabling snake robots to move in cluttered environments, this paper proposes a control strategy that combines environment adaptation with directional control in order to achieve straight line path following ...
    • Stability analysis of snake robot locomotion based on averaging theory 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2011)
      This paper investigates the controllability and stability properties of a planar snake robot influenced by anisotropic viscous ground friction. An analysis of the model shows that any asymptotically stabilizing control law ...
    • Stability analysis of snake robot locomotion based on Poincaré maps 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Chapter, 2009)
    • Two new design concepts for snake robot locomotion in unstructured environments 

      Liljeback, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2011)
      This communication presents and justifies ideas related to motion control of snake robots that are currently the subject of ongoing investigations by the authors. In particular, we highlight requirements for intelligent ...
    • Waypoint guidance control of snake robots 

      Liljeback, Pål; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2011)
      This paper considers path following control of snake robots and has two contributions. The first contribution is a description of how a straight line path following controller previously proposed by the authors can be ...