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dc.contributor.authorKelasidi, Eleni
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorGravdahl, Jan Tommy
dc.date.accessioned2014-12-14T03:19:28Z
dc.date.accessioned2016-06-20T09:29:21Z
dc.date.available2014-12-14T03:19:28Z
dc.date.available2016-06-20T09:29:21Z
dc.date.issued2014
dc.identifier.citation8 p. IEEE International conference on robotics and biomimetics (ROBIO 2014), 2014nb_NO
dc.identifier.isbn978-1-4799-7396-5
dc.identifier.urihttp://hdl.handle.net/11250/2393180
dc.description.abstractIn this paper we consider swimming underwater snake robots that are fully immersed in water and moving in a virtual horizontal plane. The main objective of the paper is to develop a model that is well suited for control design and stability analysis for swimming snake robots. The proposed model is notably less complex than the existing models, while significant parameters such as added mass effects, linear drag forces, torques due to the added mass and linear drag forces, are all taken into account in the modeling. An extensive analysis of a previously proposed complex model of underwater snake robots ([1]) is presented, and from this analysis a set of essential properties that characterize the overall motion of underwater snake robots is derived. The proposed control oriented modeling approach captures these essential properties, resulting in a less complex model that is well suited for control design, and at the same time has the same essential properties as the complex model. A qualitative validation of this is given by simulations that present a comparison of representative parameters of the complex and the control-oriented models for lateral undulation and eel-like motion.nb_NO
dc.language.isoengnb_NO
dc.publisherIEEEnb_NO
dc.relation.ispartofseriesConference Publications;ROBIO 2014
dc.titleA Control–Oriented Model of Underwater Snake Robotsnb_NO
dc.typeConference objectnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.date.updated2014-12-14T03:19:29Z
dc.source.pagenumber753 - 760nb_NO
dc.source.journalProceedings of the IEEE International Conference on Robotics and Biomimetics 2014nb_NO
dc.identifier.doi10.1109/ROBIO.2014.7090422
dc.identifier.cristin1184851
dc.description.localcode(c) 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.nb_NO


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