| dc.contributor.author | Liljeback, Pål | |
| dc.contributor.author | Pettersen, Kristin Ytterstad | |
| dc.contributor.author | Stavdahl, Øyvind | |
| dc.date.accessioned | 2015-05-09T12:23:11Z | |
| dc.date.accessioned | 2015-07-07T12:32:13Z | |
| dc.date.available | 2015-05-09T12:23:11Z | |
| dc.date.available | 2015-07-07T12:32:13Z | |
| dc.date.issued | 2009 | |
| dc.identifier.citation | Proceedings / IEEE International Conference on Robotics and Automation 2009:3807-3814 | nb_NO |
| dc.identifier.isbn | 978-1-4244-2788-8 | |
| dc.identifier.isbn | 978-1-4244-2789-5 | |
| dc.identifier.issn | 1050-4729 | |
| dc.identifier.uri | http://hdl.handle.net/11250/286686 | |
| dc.description | - Author postprint | nb_NO |
| dc.description.abstract | A snake robot can traverse cluttered and irregular environments by using irregularities around its body as push-points to aid the propulsion. This characteristic feature of snake locomotion, denoted obstacle-aided locomotion, has received limited focus in previous literature. This paper presents a model of this phenomenon and a control strategy employing measured contact forces to maintain propulsion while simultaneously preventing the snake robot from being jammed between obstacles in its path. The simulation results validate the contact modelling approach and the effectiveness of the proposed control strategy. | en |
| dc.language.iso | eng | nb_NO |
| dc.publisher | IEEE | nb_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.title | Modelling and control of obstacle-aided snake robot locomotion based on jam resolution | nb_NO |
| dc.type | Journal article | nb_NO |
| dc.type | Peer reviewed | en_GB |
| dc.date.updated | 2015-05-09T12:23:11Z | |
| dc.rights.holder | IEEE | |
| dc.source.pagenumber | 3807-3814 | nb_NO |
| dc.source.journal | Proceedings / IEEE International Conference on Robotics and Automation | nb_NO |
| dc.identifier.doi | 10.1109/ROBOT.2009.5152273 | |
| dc.identifier.cristin | 344816 | |
