| dc.contributor.author | Kelasidi, Eleni | |
| dc.contributor.author | Pettersen, Kristin Ytterstad | |
| dc.contributor.author | Gravdahl, Jan Tommy | |
| dc.date.accessioned | 2015-09-02T13:27:36Z | |
| dc.date.accessioned | 2016-06-23T12:40:55Z | |
| dc.date.available | 2015-09-02T13:27:36Z | |
| dc.date.available | 2016-06-23T12:40:55Z | |
| dc.date.issued | 2015 | |
| dc.identifier.citation | Mediterranean Conference on Control & Automation 2015 | nb_NO |
| dc.identifier.issn | 1934-1776 | |
| dc.identifier.uri | http://hdl.handle.net/11250/2393918 | |
| dc.description.abstract | Energy efficiency is one of the main challenges for long-term autonomy of underwater robotic systems. In this paper, we present results regarding the power consumption of underwater snake robots. In particular, we investigate the relationship between the parameters of the gait patterns, the consumed energy and the forward velocity for different motion patterns for underwater snake robots. Based on a simulation study, we propose empirical rules to choose the parameters of the gait patterns, taking into account both the desired forward velocity and the power consumption of the system. The simulation results show that with respect to the cost of transportation metric, increasing the number of links the energy efficiency decreases for both lateral undulation and eel-like motion. | nb_NO |
| dc.language.iso | eng | nb_NO |
| dc.publisher | IEEE | nb_NO |
| dc.title | Energy efficiency of underwater snake robot locomotion | nb_NO |
| dc.type | Journal article | nb_NO |
| dc.type | Peer reviewed | nb_NO |
| dc.date.updated | 2015-09-02T13:27:36Z | |
| dc.source.journal | Mediterranean Conference on Control & Automation | nb_NO |
| dc.identifier.doi | 10.1109/MED.2015.7158907 | |
| dc.identifier.cristin | 1245967 | |
| 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), 2015 23th Mediterranean Conference on , © IEEE, after peer review. To access the final edited and published work see http://dx.doi.org/10.1109/MED.2015.7158907 © 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 |
