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dc.contributor.authorLiljeback, Pål
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorStavdahl, Øyvind
dc.contributor.authorGravdahl, Jan Tommy
dc.date.accessioned2015-05-09T12:08:59Z
dc.date.accessioned2015-07-08T07:23:17Z
dc.date.available2015-05-09T12:08:59Z
dc.date.available2015-07-08T07:23:17Z
dc.date.issued2010
dc.identifier.citationProceedings / IEEE International Conference on Robotics and Automation 2010:675-682nb_NO
dc.identifier.isbn978-1-4244-5038-1
dc.identifier.isbn978-1-4244-5040-4
dc.identifier.issn1050-4729
dc.identifier.urihttp://hdl.handle.net/11250/288592
dc.description.abstractA snake can traverse cluttered and irregular environments by using irregularities around its body as push-points to aid the propulsion. This characteristic feature of biological snake locomotion, denoted obstacle-aided locomotion, is investigated for snake robot locomotion purposes in this paper. The paper presents a hybrid model of the dynamics of a planar snake robot interacting with obstacles in its environment. Obstacle contact forces are calculated by formulating and solving a linear complementarity problem (LCP). The existence and uniqueness properties of the state evolution of the hybrid model are investigated. Simulation results validate the hybrid modelling approach.nb_NO
dc.language.isoengnb_NO
dc.publisherIEEE Conference Publicationsnb_NO
dc.rightsIEEE
dc.titleA hybrid model of obstacle-aided snake robot locomotionnb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewed
dc.date.updated2015-05-09T12:08:59Z
dc.description.versionacceptedVersion
dc.rights.holderIEEE
dc.source.pagenumber675-682nb_NO
dc.source.journalProceedings / IEEE International Conference on Robotics and Automationnb_NO
dc.identifier.doi10.1109/ROBOT.2010.5509834
dc.identifier.cristin517077
dc.description.localcode(c) 2010 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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