• 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 ...