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dc.contributor.authorKelasidi, Eleni
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorGravdahl, Jan Tommy
dc.contributor.authorLiljebäck, Pål
dc.date.accessioned2014-12-14T03:17:57Z
dc.date.accessioned2016-06-21T07:48:19Z
dc.date.available2014-12-14T03:17:57Z
dc.date.available2016-06-21T07:48:19Z
dc.date.issued2014
dc.identifier.citationProceedings / IEEE International Conference on Robotics and Automation 2014:4540-4547nb_NO
dc.identifier.issn1050-4729
dc.identifier.urihttp://hdl.handle.net/11250/2393330
dc.description.abstractIncreasing efficiency by improving the locomotion methods is a key issue for underwater robots. Hence, an accurate dynamic model is important for both controller design and efficient locomotion methods. This paper presents a model of the kinematics and dynamics of a planar, underwater snake robot aimed at control design. Fluid contact forces and torques are modeled using analytical fluid dynamics. The model is derived in a closed form and can be utilized in modern model-based control schemes. The proposed model is easily implemented and simulated, regardless of the number of robot links. Simulation results with a ten link robotic system are presented.nb_NO
dc.language.isoengnb_NO
dc.publisherIEEEnb_NO
dc.relation.ispartofseries;(ICRA 2014)
dc.titleModeling of underwater snake robotsnb_NO
dc.typeConference objectnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.date.updated2014-12-14T03:17:58Z
dc.source.pagenumber4540-4547nb_NO
dc.source.journal2014 IEEE International Conference on Robotics and Automationnb_NO
dc.identifier.doi10.1109/ICRA.2014.6907522
dc.identifier.cristin1135493
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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