Browsing Institutt for konstruksjonsteknikk by Author "Varagnolo, Damiano"
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Form Closure For Fully Actuated and Robust Obstacle-Aided locomotion in Snake Robots
Løwer, Jostein; Gravdahl, Irja; Varagnolo, Damiano; Stavdahl, Øyvind (Peer reviewed; Journal article, 2023)In this letter we adapt the theory of form closure to define the form closed region: The subset of a snake robot's configuration space for which the constraints imposed by the obstacles in its environment render the system ...