• Formation Control of Underactuated Bio-inspired Snake Robots 

      Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Hofmann, Andreas (Journal article; Peer reviewed, 2016)
      This paper considers formation control of snake robots. In particular, based on a simplified locomotion model, and using the method of virtual holonomic constraints, we control the body shape of the robot to a desired gait ...
    • Maneuvering Control of Planar Snake Robots Based on a Simplified Model 

      Rezapour, Ehsan; Hofmann, Andreas; Pettersen, Kristin Ytterstad (Conference object; Journal article; Peer reviewed, 2014)
      This paper considers maneuvering control of planar snake robots, for which the equations of motion are described based on a simplified model. In particular, we aim to stabilize a desired straight line path for the ...
    • Maneuvering Control of Planar Snake Robots Based on a Simplified Model 

      Rezapour, Ehsan; Hofmann, Andreas; Pettersen, Kristin Ytterstad (Conference object; Journal article; Peer reviewed, 2014)
      This paper considers maneuvering control of planar snake robots, for which the equations of motion are described based on a simplified model. In particular, we aim to stabilize a desired straight line path for the ...
    • Virtual Holonomic Constraints Based Direction Following Control of Planar Snake Robots Described by a Simplified Model 

      Rezapour, Ehsan; Hofmann, Andreas; Pettersen, Kristin Ytterstad; Mohammadi, Alireza; Maggiore, Manfredi (Chapter; Conference object; Peer reviewed, 2014)
      This paper considers direction following control of planar snake robots for which the equations of motion are described based on a simplified model. In particular, we aim to regulate the orientation and the forward ...