| dc.contributor.author | Kelasidi, Eleni | |
| dc.contributor.author | Tzes, Anthony | |
| dc.date.accessioned | 2014-12-14T03:28:42Z | |
| dc.date.accessioned | 2016-06-23T12:09:03Z | |
| dc.date.available | 2014-12-14T03:28:42Z | |
| dc.date.available | 2016-06-23T12:09:03Z | |
| dc.date.issued | 2012 | |
| dc.identifier.citation | ., . [Eds.] Control & Automation (MED), 2012 20th Mediterranean Conference on p. 536-541, IEEE conference proceedings, 2012 | nb_NO |
| dc.identifier.isbn | 978-1-4673-2530-1 | |
| dc.identifier.uri | http://hdl.handle.net/11250/2393907 | |
| dc.description.abstract | The control problem for the serpentine motion of a planar snake under the assumption of a trajectory characterized by its curvature and heading is examined in this article. The time varying curvature and heading attributes of the trajectory result in a sinusoidal reference signal for the joint angles. An inner loop PD-controller is used for trajectory tracking by compensating the effects of the snake's dynamics, while an outer loop first-order controller is used for the formation of the reference joint angles by tracking the desired heading and velocity. Simulation studies on spiral curves are included to investigate the efficiency of the controller. | nb_NO |
| dc.language.iso | eng | nb_NO |
| dc.publisher | IEEE | nb_NO |
| dc.title | Serpentine motion control of snake robots for curvature and heading based trajectory - parameterization | nb_NO |
| dc.type | Chapter | nb_NO |
| dc.date.updated | 2014-12-14T03:28:42Z | |
| dc.source.pagenumber | 536-541 | nb_NO |
| dc.identifier.doi | 10.1109/MED.2012.6265693 | |
| dc.identifier.cristin | 1015182 | |
| dc.description.localcode | This document is the unedited Author's version of a Submitted Work that was subsequently accepted for publication in Control & Automation (MED), 2012 20th Mediterranean Conference on , © IEEE, after peer review. To access the final edited and published work see http://dx.doi.org/10.1109/MED.2012.6265693 © 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 |
