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dc.contributor.authorLiljebäck, Pål
dc.contributor.authorStavdahl, Øyvind
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorGravdahl, Jan Tommy
dc.date.accessioned2015-05-09T11:17:02Z
dc.date.accessioned2015-10-21T13:40:32Z
dc.date.available2015-05-09T11:17:02Z
dc.date.available2015-10-21T13:40:32Z
dc.date.issued2012
dc.identifier.citationIEEE International Conference on Intelligent Robots and Systems. Proceedings 2012, 2012:4898-4905nb_NO
dc.identifier.isbn978-1-4673-1737-5
dc.identifier.issn2153-0866
dc.identifier.urihttp://hdl.handle.net/11250/2357533
dc.description- authors postprintnb_NO
dc.description.abstractThis paper presents the design of a waterproof and mechanically robust joint module for the snake robot Mamba. The main contribution of the module is a custom-designed force/torque sensor based on strain gauges, which enables the module to measure forces and torques acting on its joint shaft. The ability to measure joint constraint forces and torques enables a snake robot to estimate the external contact forces from its environment, which is important for intelligent and adaptive snake robot locomotion. The paper presents experimental results which illustrate the performance of the force/torque sensor.nb_NO
dc.language.isoengnb_NO
dc.publisherIEEE Conference Publicationsnb_NO
dc.relation.ispartofseriesIEEE International Conference on Intelligent Robots and Systems. Proceedings;2012
dc.titleA modular and waterproof snake robot joint mechanism with a novel force/torque sensornb_NO
dc.typeConference objectnb_NO
dc.date.updated2015-05-09T11:17:02Z
dc.identifier.doi10.1109/IROS.2012.6386115
dc.identifier.cristin979594
dc.relation.projectNorges forskningsråd: 205622nb_NO


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