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dc.contributor.authorLiljeback, Pål
dc.contributor.authorFjerdingen, Sigrud Aksnes
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorStavdahl, Øyvind
dc.date.accessioned2015-05-09T12:19:32Z
dc.date.accessioned2015-07-07T12:15:17Z
dc.date.available2015-05-09T12:19:32Z
dc.date.available2015-07-07T12:15:17Z
dc.date.issued2009
dc.identifier.citationProceedings / IEEE International Conference on Robotics and Automation 2009:3815-3820nb_NO
dc.identifier.isbn978-1-4244-2788-8
dc.identifier.isbn978-1-4244-2789-5
dc.identifier.issn1050-4729
dc.identifier.urihttp://hdl.handle.net/11250/286682
dc.description- Author postprintnb_NO
dc.description.abstractA snake robot can traverse cluttered and irregular environments by using irregularities around its body as pushpoints to aid the propulsion. This is denoted obstacle-aided locomotion and requires the snake robot to have two features: 1) a smooth exterior surface combined with 2) a contact force sensing system. These two features are characteristic of biological snakes, but have received limited attention in snake robot designs so far. This paper presents a joint mechanism for a snake robot aimed at meeting both these requirements. The paper details the design and implementation of the joint mechanism and presents experimental results that validate the function of the contact force measurement system.nb_NO
dc.language.isoengnb_NO
dc.publisherIEEEnb_NO
dc.rights(c) 2009 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.
dc.titleA snake robot joint mechanism with a contact force measurement systemnb_NO
dc.typeJournal articlenb_NO
dc.typePeer revieweden_GB
dc.date.updated2015-05-09T12:19:32Z
dc.rights.holderIEEE
dc.subject.nsiVDP::Teknologi: 500::Informasjons- og kommunikasjonsteknologi: 550::Teknisk kybernetikk: 553nb_NO
dc.subject.nsiVDP::Technology: 500::Information and communication technology: 550::Technical cybernetics: 553nb_NO
dc.source.pagenumber3815-3820nb_NO
dc.source.journalProceedings / IEEE International Conference on Robotics and Automationnb_NO
dc.identifier.doi10.1109/ROBOT.2009.5152276
dc.identifier.cristin344817
dc.subject.keywordReguleringsteknikk / Control technology
dc.subject.keywordRobotikk / Robotics


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