• norsk
    • English
  • English 
    • norsk
    • English
  • Login
View Item 
  •   Home
  • Øvrige samlinger
  • Publikasjoner fra CRIStin - NTNU
  • View Item
  •   Home
  • Øvrige samlinger
  • Publikasjoner fra CRIStin - NTNU
  • View Item
JavaScript is disabled for your browser. Some features of this site may not work without it.

Modular Pneumatic Snakerobot: 3D Modelling, Implementation and Control

Liljebäck, Pål; Stavdahl, Øyvind; Pettersen, Kristin Ytterstad
Journal article, Peer reviewed
Thumbnail
View/Open
IFAC+2005+-+Modular+Pneumatic+Snakerobot+-+3D+Modelling%2C+Implementation+and+Control.pdf (312.0Kb)
URI
http://hdl.handle.net/11250/283834
Date
2005
Metadata
Show full item record
Collections
  • Institutt for teknisk kybernetikk [2842]
  • Publikasjoner fra CRIStin - NTNU [26628]
Original version
IFAC papers online 2005   10.3182/20050703-6-CZ-1902.01274
Abstract
This paper gives a treatment of various aspects related to snake locomotion. A

mathematical model and a physical implementation of a modular snake robot are

presented. A control strategy is also developed, yielding a general expression for different

gait patterns. Two forms of locomotion have been simulated with the mathematical

model, and experiments with the physical snake robot have been conducted. The

simulation results revealed the parameter through which directional control may be

achieved for each gait pattern. Experiments with the physical snake robot gave a crude

qualitative verification of these findings. Keywords: Mathematical model, kinematics, dynamics, control algorithm, simulation,

actuators, mobile robot, movement.
Description
This is the authors accepted and refereed manuscript to the article.
Publisher
Elsevier
Journal
IFAC papers online

Contact Us | Send Feedback

Privacy policy
DSpace software copyright © 2002-2019  DuraSpace

Service from  Unit
 

 

Browse

ArchiveCommunities & CollectionsBy Issue DateAuthorsTitlesSubjectsDocument TypesJournalsThis CollectionBy Issue DateAuthorsTitlesSubjectsDocument TypesJournals

My Account

Login

Statistics

View Usage Statistics

Contact Us | Send Feedback

Privacy policy
DSpace software copyright © 2002-2019  DuraSpace

Service from  Unit