• 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 ...
    • 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 ...
    • Direction Following Control of Planar Snake Robots Using Virtual Holonomic Constraints 

      Mohammadi, Alireza; Rezapour, Ehsan; Maggiore, Manfredi; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2015)
      This paper investigates the problem of direction following for planar snake robots. The control objective is to regulate the linear velocity vector of the snake robot to a constant reference while guaranteeing boundedness ...
    • 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 ...
    • Maneuvering Control of Planar Snake Robots Using Virtual Holonomic Constraints 

      Mohammadi, Alireza; Rezapour, Ehsan; Maggiore, Manfredi; Pettersen, Kristin Ytterstad (Journal article; Peer reviewed, 2016)
      This paper investigates the problem of maneuvering control for planar snake robots. The control objective is to make the center of mass of the snake robot converge to a desired path and traverse the path with a desired ...
    • Model-based Locomotion Control of Underactuated Snake Robots 

      Rezapour, Ehsan (Doctoral thesis at NTNU;2015:46, Doctoral thesis, 2015)
      Snake robots are a class of biologically inspired robots which are built to emulate the features of biological snakes. These robots are underactuated, i.e. they have fewer control inputs than degrees of freedom, and ...
    • 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 ...
    • Path Following Control of Planar Snake Robots Using Virtual Holonomic Constraints 

      Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy (Conference object; Peer reviewed, 2013)
      This paper considers path following control of planar snake robots using virtual holonomic constraints. We first derive the Euler-Lagrange equations of motion of the snake robot. Moreover, we integrate the effects of ...
    • Path following control of planar snake robots using virtual holonomic constraints: theory and experiments 

      Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy; Kelasidi, Eleni (Journal article; Peer reviewed, 2014)
      This paper considers path following control of planar snake robots using virtual holonomic constraints. In order to present a model-based path following control design for the snake robot, we first derive the Euler-Lagrange ...
    • Path following control of planar snake robots using virtual holonomic constraints: theory and experiments 

      Rezapour, Ehsan; Pettersen, Kristin Ytterstad; Liljebäck, Pål; Gravdahl, Jan Tommy; Kelasidi, Eleni (Journal article; Peer reviewed, 2014-08-28)
      This paper considers path following control of planar snake robots using virtual holonomic constraints. In order to present a model-based path following control design for the snake robot, we first derive the Euler-Lagrange ...
    • 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 ...