Compliant Control of the Body Shape of Snake Robots
Journal article, Peer reviewed
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Original versionProceedings / IEEE International Conference on Robotics and Automation 2014:4548-4555 10.1109/ICRA.2014.6907523
This paper presents a general motion planning framework for body shape control of snake robots. We demonstrate the applicability of the framework for straight line path following control, and for implementing body shape compliance in environments with obstacles. Compliance is achieved by assigning mass-spring-damper dynamics to the shape curve defining the motion of the robot. The performance of the control strategies is illustrated with simulation results.
This is the author’s final, accepted and refereed manuscript to the article.