Vis enkel innførsel

dc.contributor.authorHolden, Christian
dc.contributor.authorStavdahl, Øyvind
dc.contributor.authorGravdahl, Jan Tommy
dc.date.accessioned2015-01-19T16:28:39Z
dc.date.accessioned2015-02-06T11:42:50Z
dc.date.available2015-01-19T16:28:39Z
dc.date.available2015-02-06T11:42:50Z
dc.date.issued2014
dc.identifier.citationIEEE International Conference on Intelligent Robots and Systems. Proceedings 2014nb_NO
dc.identifier.issn2153-0858
dc.identifier.urihttp://hdl.handle.net/11250/275548
dc.descriptionThis is the author’s final, accepted and refereed manuscript to the article.nb_NO
dc.description.abstractSnake 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.nb_NO
dc.language.isoengnb_NO
dc.publisherIEEEnb_NO
dc.titleOptimal Dynamic Force Mapping for Obstacle-Aided Locomotion in 2D Snake Robotsnb_NO
dc.typeJournal articlenb_NO
dc.typePeer revieweden_GB
dc.date.updated2015-01-19T16:28:39Z
dc.source.pagenumber321-328nb_NO
dc.source.journalIEEE International Conference on Intelligent Robots and Systems. Proceedingsnb_NO
dc.identifier.doi10.1109/IROS.2014.6942579
dc.identifier.cristin1153792
dc.relation.projectNorges forskningsråd: 205622nb_NO
dc.description.localcodeAkseptert fagfellevurdert versjon/postprint. “© © 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, 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 component of this work in other works.”nb_NO


Tilhørende fil(er)

Thumbnail

Denne innførselen finnes i følgende samling(er)

Vis enkel innførsel