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dc.contributor.authorLiljebäck, Pål
dc.contributor.authorStavdahl, Øyvind
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorGravdahl, Jan Tommy
dc.date.accessioned2015-05-09T11:09:36Z
dc.date.accessioned2015-06-08T13:16:46Z
dc.date.available2015-05-09T11:09:36Z
dc.date.available2015-06-08T13:16:46Z
dc.date.issued2014
dc.identifier.citationIEEE, . [Eds.] IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014 (IROS 2014), Chicago, Ill. 14-18 Sept. 2014 p. 294-301 IEEE International Conference on Intelligent Robots and Systems. Proceedings, Curran Associates, Inc., 2014nb_NO
dc.identifier.isbn9781479969357
dc.identifier.issn2153-0858
dc.identifier.urihttp://hdl.handle.net/11250/284794
dc.description- author postprintnb_NO
dc.description.abstractThis paper presents the snake robot Mamba, which is a modular, reconfigurable, and waterproof experimental platform developed to support the ongoing research on snake robot locomotion, including underwater locomotion. A novel contribution of the snake robot is its ability to measure environment contact forces acting along its body, which is achieved by isolating the actuator inside each joint module with a custom-designed force/torque sensor. The paper describes the design of this sensor and presents experimental results which illustrate its performance.nb_NO
dc.language.isoengnb_NO
dc.publisherIEEEnb_NO
dc.titleMamba - A waterproof snake robot with tactile sensingnb_NO
dc.typeChapternb_NO
dc.date.updated2015-05-09T11:09:36Z
dc.source.pagenumber294-301nb_NO
dc.source.volume2014nb_NO
dc.source.journalIEEE/RSJ International Conference on Intelligent Robots and Systemsnb_NO
dc.identifier.doi10.1109/IROS.2014.6942575
dc.identifier.cristin1205886
dc.description.localcode(c) 2014 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, 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 components of this work in other works.nb_NO


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