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Snake Robot Locomotion in Environments With Obstacles

Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy
Journal article, Peer reviewed
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URI
http://hdl.handle.net/11250/286596
Date
2012
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  • Institutt for teknisk kybernetikk [2251]
  • Publikasjoner fra CRIStin - NTNU [20955]
Original version
IEEE/ASME transactions on mechatronics 2012, 17(6):1158-1169   10.1109/TMECH.2011.2159863
Abstract
As a step toward enabling snake robots to move in cluttered environments, this paper proposes a control strategy that combines environment adaptation with directional control in order to achieve straight line path following control in environments with obstacles. Moreover, the paper presents the design of a mechanical snake robot with tactile sensing capabilities that allow the robot to sense its environment. Experimental results are presented where the snake robot is successfully propelled through different obstacle environments with the proposed control strategy.
Description
- Author postprint
Publisher
IEEE
Journal
IEEE/ASME transactions on mechatronics
Copyright
IEEE

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