• A control framework for snake robot locomotion based on shape control points interconnected by Bézier curves 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2012)
      This paper presents a control framework for shape control of snake robots for the purpose of locomotion. An advantage of the framework is that it allows the macroscopic shape of a snake robot to be controlled explicitly ...
    • A hybrid model of obstacle-aided snake robot locomotion 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Conference object, 2010)
      A snake can traverse cluttered and irregular environments by using irregularities around its body as push-points to aid the propulsion. This characteristic feature of biological snake locomotion, denoted obstacle-aided ...
    • A review on modelling, implementation, and control of snake robots 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2012)
      This paper provides an overview of previous literature on snake robot locomotion. In particular, the paper considers previous research efforts related to modelling of snake robots, physical development of these mechanisms, ...
    • A simplified model of planar snake robot locomotion 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Conference object, 2010)
      This paper presents a model of the kinematics and dynamics of a planar, wheelless snake robot aimed at control design and stability analysis purposes. The proposed model is significantly less complex than existing models ...
    • A snake robot joint mechanism with a contact force measurement system 

      Liljeback, Pål; Fjerdingen, Sigrud Aksnes; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind (Journal article; Peer reviewed, 2009)
      A snake robot can traverse cluttered and irregular environments by using irregularities around its body as pushpoints to aid the propulsion. This is denoted obstacle-aided locomotion and requires the snake robot to have ...
    • A snake robot with a contact force measurement system for obstacle-aided locomotion 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind (Conference object, 2010)
      A snake robot can traverse cluttered and irregular environments by using irregularities around its body as push-points to aid the propulsion. This is denoted obstacle-aided locomotion and requires the snake robot to have ...
    • A snake-like robot for internal inspection of complex pipe structures (PIKo) 

      Fjerdingen, Sigurd Aksnes; Liljeback, Pål; Transeth, Aksel Andreas (Chapter, 2009)
      This paper presents a mechanism for navigating complex pipe structures, both horizontally and vertically. The mechanism consists of a series of identical modules interconnected by two degree of freedom active joints. A set ...
    • A survey on snake robot modeling and locomotion 

      Transeth, Aksel A.; Pettersen, Kristin Ytterstad; Liljeback, Pål (Journal article; Peer reviewed, 2009)
      Snake robots have the potential to make substantial contributions in areas such as rescue missions, firefighting, and maintenance where it may either be too narrow or too dangerous for personnel to operate. During the last ...
    • Controllability analysis of planar snake robots influenced by viscous ground friction 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Chapter, 2009)
      This paper investigates the controllability properties of planar snake robots influenced by viscous ground friction forces. The paper provides three contributions: 1) A partially feedback linearized model of a planar snake ...
    • Controllability and Stability Analysis of Planar Snake Robot Locomotion 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2011)
      This paper contributes to the understanding of snake robot locomotion by employing nonlinear system analysis tools for investigating fundamental properties of snake robot dynamics. The paper has five contributions: 1) a ...
    • 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 ...
    • Experimental investigation of fundamental properties of snake robot locomotion 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Proceedings / 11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010).;, Conference object, 2010)
      This paper derives and experimentally investigates fundamental properties of the velocity of a snake robot conducting lateral undulation. In particular, the derived properties state that the average forward velocity of the ...
    • Experimental Investigation of Obstacle-Aided Locomotion With a Snake Robot 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2011)
      In a recent paper, the authors have proposed a control strategy for a snake robot during obstacle-aided locomotion. In this paper, experimental results are presented where the controller is shown to successfully maintain ...
    • Fundamental properties of snake robot locomotion 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Conference object, 2010)
      This paper presents a set of fundamental properties of the velocity of a snake robot conducting lateral undulation on a planar surface. In particular, the derived properties state that the average forward velocity of the ...
    • Hybrid Modelling and Control of Obstacle-Aided Snake Robot Locomotion 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2010)
      A snake can traverse cluttered and irregular environments by using irregularities around its body as push points to aid the propulsion. This characteristic feature of biological snake locomotion, which is denoted as ...
    • Modelling and control of obstacle-aided snake robot locomotion based on jam resolution 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind (Journal article; Peer reviewed, 2009)
      A snake robot can traverse cluttered and irregular environments by using irregularities around its body as push-points to aid the propulsion. This characteristic feature of snake locomotion, denoted obstacle-aided locomotion, ...
    • Modular Pneumatic Snake Robot: 3D Modelling, Implementation and Control 

      Liljeback, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2008)
    • 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 ...
    • Path following control of snake robots in unstructured environments 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Proceedings / IEEE International Conference on Robotics and Automation;, Conference object, 2011)
      As a step towards enabling snake robots to move in unstructured environments, this paper considers control strategies where environment adaptation is combined with directional control of snake robot locomotion. The first ...