Browsing NTNU Open by Author "Hofmann, Andreas"
Now showing items 1-4 of 4
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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 (Chapter, 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 position ... -
Maneuvering Control of Planar Snake Robots Based on a Simplified Model
Rezapour, Ehsan; Hofmann, Andreas; Pettersen, Kristin Ytterstad (Journal article, 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 position ... -
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, 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 ...