| dc.contributor.author | Liljebäck, Pål | |
| dc.contributor.author | Pettersen, Kristin Ytterstad | |
| dc.contributor.author | Stavdahl, Øyvind | |
| dc.contributor.author | Gravdahl, Jan Tommy | |
| dc.date.accessioned | 2015-01-19T14:13:48Z | |
| dc.date.accessioned | 2015-02-06T13:54:10Z | |
| dc.date.available | 2015-01-19T14:13:48Z | |
| dc.date.available | 2015-02-06T13:54:10Z | |
| dc.date.issued | 2014 | |
| dc.identifier.citation | Proceedings / IEEE International Conference on Robotics and Automation 2014:4548-4555 | nb_NO |
| dc.identifier.issn | 1050-4729 | |
| dc.identifier.uri | http://hdl.handle.net/11250/275573 | |
| dc.description | This is the author’s final, accepted and refereed manuscript to the article. | nb_NO |
| dc.description.abstract | 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. | nb_NO |
| dc.language.iso | eng | nb_NO |
| dc.publisher | IEEE | nb_NO |
| dc.title | Compliant Control of the Body Shape of Snake Robots | nb_NO |
| dc.type | Journal article | nb_NO |
| dc.type | Peer reviewed | en_GB |
| dc.date.updated | 2015-01-19T14:13:47Z | |
| dc.source.journal | IEEE International Conference on Robotics and Automation (ICRA 2014) | nb_NO |
| dc.identifier.doi | 10.1109/ICRA.2014.6907523 | |
| dc.identifier.cristin | 1138127 | |
| dc.description.localcode | Forfatters versjon. “© © 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 |
