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Optimal Dynamic Force Mapping for Obstacle-Aided Locomotion in 2D Snake Robots

Holden, Christian; Stavdahl, Øyvind; Gravdahl, Jan Tommy
Journal article, Peer reviewed
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URI
http://hdl.handle.net/11250/275548
Date
2014
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  • Institutt for teknisk kybernetikk [2188]
  • Publikasjoner fra CRIStin - NTNU [19793]
Original version
IEEE International Conference on Intelligent Robots and Systems. Proceedings 2014   10.1109/IROS.2014.6942579
Abstract
Snake robots are biomimetic robots highly suited

for traversing challenging terrain where traditional robots have

difficulty moving. A key aspect is obstacle-aided locomotion,

where the snake pushes against the environment to achieve the

desired propulsion. The main focus of this work is to optimally

determine how to use the motor torque inputs that result in

obstacle forces suitable to achieve some user-defined desired

path for the snake. To this end, we present a new dynamical

snake model, an explicit algebraic relationship between input

and obstacle forces, and formulate an optimization problem

that seeks to minimize energy consumption while achieving

propulsion along the desired path.
Description
This is the author’s final, accepted and refereed manuscript to the article.
Publisher
IEEE
Journal
IEEE International Conference on Intelligent Robots and Systems. Proceedings

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