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dc.contributor.authorKelasidi, Eleni
dc.contributor.authorLiljebäck, Pål
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorGravdahl, Jan Tommy
dc.date.accessioned2016-11-07T09:46:00Z
dc.date.accessioned2016-11-08T12:17:06Z
dc.date.available2016-11-07T09:46:00Z
dc.date.available2016-11-08T12:17:06Z
dc.date.issued2016
dc.identifier.citationIEEE robotics & automation magazine 2016, 23(1):44-62nb_NO
dc.identifier.issn1070-9932
dc.identifier.urihttp://hdl.handle.net/11250/2420086
dc.description.abstractIncreasing efficiency by improving locomotion methods is a key issue for underwater robots. Moreover, a number of different control design challenges must be solved to realize operational swimming robots for underwater tasks. This article proposes and experimentally validates a straightline-path-following controller for biologically inspired swimming snake robots. In particular, a line-of-sight (LOS) guidance law is presented, which is combined with a sinusoidal gait pattern and a directional controller that steers the robot toward and along the desired path. The performance of the path-following controller is investigated through experiments with a physical underwater snake robot for both lateral undulation and eel-like motion. In addition, fluid parameter identification is performed, and simulation results based on the identified fluid coefficients are presented to obtain a back-to-back comparison with the motion of the physical robot during the experiments. The experimental results show that the proposed control strategy successfully steers the robot toward and along the desired path for both lateral undulation and eel-like motion patternsnb_NO
dc.language.isoengnb_NO
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)nb_NO
dc.titleInnovation in Underwater Robots: Biologically Inspired Swimming Snake Robotsnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.date.updated2016-11-07T09:46:00Z
dc.source.pagenumber44-62nb_NO
dc.source.volume23nb_NO
dc.source.journalIEEE robotics & automation magazinenb_NO
dc.source.issue1nb_NO
dc.identifier.doi10.1109/MRA.2015.2506121
dc.identifier.cristin1388987
dc.description.localcode(c) 2016 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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