| dc.contributor.author | Liljeback, Pål | |
| dc.contributor.author | Pettersen, Kristin Ytterstad | |
| dc.contributor.author | Stavdahl, Øyvind | |
| dc.contributor.author | Gravdahl, Jan Tommy | |
| dc.date.accessioned | 2015-05-09T12:15:08Z | |
| dc.date.accessioned | 2015-07-08T06:44:00Z | |
| dc.date.available | 2015-05-09T12:15:08Z | |
| dc.date.available | 2015-07-08T06:44:00Z | |
| dc.date.issued | 2009 | |
| dc.identifier.citation | Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy [Eds.] Proceedings IEEE International Conference on Intelligent Robots and Systems p. 3615-3622, IEEE conference proceedings, 2009 | nb_NO |
| dc.identifier.isbn | 978-1-4244-3803-7 | |
| dc.identifier.uri | http://hdl.handle.net/11250/286698 | |
| dc.description | - Author postprint | nb_NO |
| dc.description.abstract | This paper investigates the controllability properties of planar snake robots influenced by viscous ground friction forces. The paper provides three contributions: 1) A partially feedback linearized model of a planar snake robot is developed. 2) A stabilizability analysis is presented proving that any asymptotically stabilizable control law for a planar snake robot to an equilibrium point must be time-varying. 3) A controllability analysis is presented proving that planar snake robots are not controllable when the viscous ground friction is uniform, but that a snake robot becomes strongly accessible when the viscous ground friction is non-uniform. The analysis also shows that the snake robot does not satisfy sufficient conditions for small-time local controllability (STLC). | nb_NO |
| 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 | Controllability analysis of planar snake robots influenced by viscous ground friction | nb_NO |
| dc.type | Chapter | nb_NO |
| dc.date.updated | 2015-05-09T12:15:08Z | |
| dc.rights.holder | IEEE | |
| dc.source.pagenumber | 3615 - 3622 | nb_NO |
| dc.source.volume | IROS 2009 | nb_NO |
| dc.source.journal | IEEE/RSJ International Conference on Intelligent Robots and Systems, 2009 | nb_NO |
| dc.identifier.doi | 10.1109/IROS.2009.5354676 | |
| dc.identifier.cristin | 43386 | |
| dc.description.localcode | (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. | |
