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dc.contributor.authorRezapour, Ehsan
dc.contributor.authorHofmann, Andreas
dc.contributor.authorPettersen, Kristin Ytterstad
dc.date.accessioned2014-12-16T11:19:35Z
dc.date.accessioned2016-06-20T12:30:51Z
dc.date.available2014-12-16T11:19:35Z
dc.date.available2016-06-20T12:30:51Z
dc.date.issued2014
dc.identifier.citationWang, Hesheng [Eds.] Proceeding of The 2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014) , IEEE conference proceedings, 2014nb_NO
dc.identifier.isbn978-1-4799-7396-5
dc.identifier.urihttp://hdl.handle.net/11250/2393271
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.updated2014-12-16T11:19:36Z
dc.source.pagenumber548-555nb_NO
dc.source.journalProceedings of The 2014 IEEE International Conference on Robotics and Biomimeticsnb_NO
dc.identifier.cristin1185758
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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