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dc.contributor.authorRezapour, Ehsan
dc.contributor.authorHofmann, Andreas
dc.contributor.authorPettersen, Kristin Ytterstad
dc.date.accessioned2014-12-14T14:48:01Z
dc.date.accessioned2016-06-20T11:19:31Z
dc.date.available2014-12-14T14:48:01Z
dc.date.available2016-06-20T11:19:31Z
dc.date.issued2014
dc.identifier.citationResearch in Microbiology 2014nb_NO
dc.identifier.issn0300-5410
dc.identifier.urihttp://hdl.handle.net/11250/2393236
dc.description.abstractThis 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 of the center of mass of the robot, and to regulate the forward velocity of the robot along the path to a constant reference velocity. In order to solve this problem, we first stabilize a desired gait pattern for the fully-actuated body shape variables of the robot. Furthermore, we use the parameters of this gait pattern in the form of two dynamic compensators which control orientation and position of the robot in the plane. In particular, by solving the maneuvering problem, we control the body shape, orientation, and planar position of the robot.nb_NO
dc.language.isoengnb_NO
dc.publisherIEEEnb_NO
dc.titleManeuvering Control of Planar Snake Robots Based on a Simplified Modelnb_NO
dc.typeConference objectnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.date.updated2014-12-14T14:48:02Z
dc.source.pagenumber548-555nb_NO
dc.identifier.doi10.1109/ROBIO.2014.7090388
dc.identifier.cristin1184899
dc.description.localcodePreprint version. © 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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