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dc.contributor.authorLiljeback, Pål
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorStavdahl, Øyvind
dc.contributor.authorGravdahl, Jan Tommy
dc.date.accessioned2015-05-09T11:14:17Z
dc.date.accessioned2015-06-10T12:52:38Z
dc.date.available2015-05-09T11:14:17Z
dc.date.available2015-06-10T12:52:38Z
dc.date.issued2012
dc.identifier.citationIEEE International Conference on Intelligent Robots and Systems. Proceedings 2012, 2012:3111-3118nb_NO
dc.identifier.issn2153-0866
dc.identifier.urihttp://hdl.handle.net/11250/284877
dc.description- author postprintnb_NO
dc.description.abstractThis paper presents a control framework for shape control of snake robots for the purpose of locomotion. An advantage of the framework is that it allows the macroscopic shape of a snake robot to be controlled explicitly and intuitively. The framework is based on specifying the desired shape of the snake robot as a continuous shape curve defined by a set of shape control points interconnected by Bézier curves. We propose a novel approach for motion generation in which the shape curve is repeatedly extended according to a desired gait pattern while a virtual snake robot is progressed along the shape curve to retrieve joint reference angles for the physical snake robot. Practical applications of the proposed control framework are exemplified along with simulation results.nb_NO
dc.language.isoengnb_NO
dc.publisherIEEEnb_NO
dc.titleA control framework for snake robot locomotion based on shape control points interconnected by Bézier curvesnb_NO
dc.typeJournal articlenb_NO
dc.typePeer revieweden_GB
dc.date.updated2015-05-09T11:14:16Z
dc.source.pagenumber3111-3118nb_NO
dc.source.journalIEEE International Conference on Intelligent Robots and Systems. Proceedingsnb_NO
dc.identifier.doi10.1109/IROS.2012.6386117
dc.identifier.cristin979593
dc.relation.projectNorges forskningsråd: 205622nb_NO
dc.description.localcode(c) 2012 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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