• A 3D motion planning framework for snake robots 

      Liljebäck, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Chapter, 2014)
      This paper presents a motion planning framework for three-dimensional body shape control of snake robots. Whereas conventional motion planning approaches define the body shape of snake robots in terms of their individual ...
    • A modular and waterproof snake robot joint mechanism with a novel force/torque sensor 

      Liljebäck, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (IEEE International Conference on Intelligent Robots and Systems. Proceedings;2012, Conference object, 2012)
      This paper presents the design of a waterproof and mechanically robust joint module for the snake robot Mamba. The main contribution of the module is a custom-designed force/torque sensor based on strain gauges, which ...
    • Body Shape and Orientation Control for Locomotion of Biologically-Inspired Snake Robots 

      Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Liljebäck, Pål (Biomedical Robotics and Biomechatronics;5th IEEE RAS/EMBS International Conference on Biomedical Robotics and Biomechatronics, Conference object; Journal article; Peer reviewed, 2014)
      This paper considers guidance-based motion control of planar snake robots using a dynamic feedback control law. We first present the Euler-Lagrange equations of motion of the robot. Subsequently, we introduce a dynamic ...
    • Compliant Control of the Body Shape of Snake Robots 

      Liljebäck, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2014)
      This paper presents a general motion planning framework for body shape control of snake robots. We demonstrate the applicability of the framework for straight line path following control, and for implementing body shape ...
    • 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 ...
    • Design of a New Joint Mechanism and a Simulator for a Climbing Robot 

      Wiig, Martin (Master thesis, 2007)
      This report covers the development of a new joint mechanism and a robotic simulator. These are intended to be used in the further development of a climbing robot that has been previously worked on. The climbing robot is ...
    • Differential Geometric Modelling and Robust Path Following Control of Snake Robots Using Sliding Mode Techniques 

      Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy (Conference object; Journal article; Peer reviewed, 2014)
      This paper considers straight line path following control of wheel-less planar snake robots using sliding mode techniques. We first derive the Poincaré representation of the equations of motion of the robot using the ...
    • Experimental investigation of efficient locomotion of underwater snake robots for lateral undulation and eel-like motion patterns 

      Kelasidi, Eleni; Liljebäck, Pål; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article, 2015)
      Underwater snake robots offer many interesting capabilities for underwater operations. The long and slender structure of such robots provide superior capabilities for access through narrow openings and within confined ...
    • Innovation in Underwater Robots: Biologically Inspired Swimming Snake Robots 

      Kelasidi, Eleni; Liljebäck, Pål; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2016)
      Increasing efficiency by improving locomotion methods is a key issue for underwater robots. Moreover, a number of different control design challenges must be solved to realize operational swimming robots for underwater ...
    • Integral Line-of-Sight for path following of underwater snake robots 

      Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy (Conference object; Journal article; Peer reviewed, 2014)
      This paper considers straight line path following control of underwater snake robots in the presence of constant irrotational currents. An integral line-of-sight (LOS) guidance law is proposed, which is combined with a ...
    • Integral Line-of-Sight Guidance for Path Following Control of Underwater Snake Robots: Theory and Experiments 

      Kelasidi, Eleni; Liljebäck, Pål; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2017)
      This paper proposes and experimentally validates a straight line path following controller for underwater snake robots in the presence of constant irrotational currents of unknown direction and magnitude. An integral ...
    • Lateral undulation of snake robots: A simplified model and fundamental properties 

      Liljebäck, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2013)
      This paper considers the lateral undulation motion of snake robots. The first contribution of the paper is a model of lateral undulation dynamics developed for control design and stability analysis purposes. The second ...
    • Locomotion Efficiency of Underwater Snake Robots with Thrusters 

      Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy (Chapter; Conference object; Peer reviewed, 2016)
      Lately there has been an increasing interest for subsea inspection and intervention tasks, and in particular on solutions which combine smaller size, increased flexibility and maneuverability, and decreased cost. Biologically ...
    • Mamba - A waterproof snake robot with tactile sensing 

      Liljebäck, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Chapter, 2014)
      This paper presents the snake robot Mamba, which is a modular, reconfigurable, and waterproof experimental platform developed to support the ongoing research on snake robot locomotion, including underwater locomotion. A ...
    • Model Based on C/C++ for Simulation of a 3D Snake Robot with Experimental Validation 

      Rogne, Robert Harald (Master thesis, 2008)
      A simulator based on the Open Dynamics Engine (ODE) is presented in this report. The simulator is validated experimentally with varying results, but simulation speed and stability of the simulator is excellent. This report ...
    • Modeling of underwater snake robots 

      Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy; Liljebäck, Pål (;(ICRA 2014), Conference object; Journal article; Peer reviewed, 2014)
      Increasing efficiency by improving the locomotion methods is a key issue for underwater robots. Hence, an accurate dynamic model is important for both controller design and efficient locomotion methods. This paper ...
    • Modelling, Development, and Control of Snake Robots 

      Liljebäck, Pål (Doktoravhandlinger ved NTNU, 1503-8181; 2011:70, Doctoral thesis, 2011)
      This thesis is motivated by the long-term goal of developing snake robots which can move in unknown and challenging environments in order to support human intervention tasks. Inspired by biological snakes, snake robots ...
    • 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, 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 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, Conference object; Journal article; Peer reviewed, 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 ...