• Control and Stability Analysis of Snake Robot Locomotion 

      Haugstuen, Idar Ulvestad (Master thesis, 2010)
      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 ...
    • Experimental investigation of a path following controller for planar snake robots 

      Liljeback, Pål; Haugstuen, Idar Ulvestad; Pettersen, Kristin Ytterstad (Proceedings / 11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010);, Conference object, 2010)
      This paper considers path following control of snake robots along straight paths. A controller is proposed which, under the assumption that the forward velocity of the snake robot is nonzero and positive, guarantees ...
    • Path following control of planar snake robots using a cascaded approach 

      Liljeback, Pål; Haugstuen, Idar Ulvestad; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2012)
      This paper considers path following control of snake robots along straight paths. Under the assumption that the forward velocity of the snake robot is nonzero and positive, we prove that the proposed path following controller ...
    • Path following control of planar snake robots using a cascaded approach 

      Liljeback, Pål; Haugstuen, Idar Ulvestad; Pettersen, Kristin Ytterstad (Proceedings of the IEEE Conference on Decision & Control, including the Symposium on Adaptive Processes;, Conference object, 2010)
      This paper considers path following control of snake robots along straight paths. The proposed controller propels the snake robot forward according to the motion pattern lateral undulation while simultaneously adjusting ...