Blar i Institutt for teknisk kybernetikk på tidsskrift "Proceedings of The 2014 IEEE International Conference on Robotics and Biomimetics"

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    • 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 ...

    • Stability Analysis of Underwater Snake Robot Locomotion Based on Averaging Theory 

      Kelasidi, Eleni; Pettersen, Kristin Ytterstad; Gravdahl, Jan Tommy (Chapter, 2014)
      This paper presents an averaged model of the velocity dynamics of an underwater snake robot, suited for stability analysis and motion planning purposes for general sinusoidal motion gait patterns. Averaging theory is applied ...