| 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 | 2015-05-09T12:08:59Z | |
| dc.date.accessioned | 2015-07-08T07:23:17Z | |
| dc.date.available | 2015-05-09T12:08:59Z | |
| dc.date.available | 2015-07-08T07:23:17Z | |
| dc.date.issued | 2010 | |
| dc.identifier.citation | Proceedings / IEEE International Conference on Robotics and Automation 2010:675-682 | nb_NO |
| dc.identifier.isbn | 978-1-4244-5038-1 | |
| dc.identifier.isbn | 978-1-4244-5040-4 | |
| dc.identifier.issn | 1050-4729 | |
| dc.identifier.uri | http://hdl.handle.net/11250/288592 | |
| dc.description.abstract | A 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.iso | eng | nb_NO |
| dc.publisher | IEEE Conference Publications | nb_NO |
| dc.rights | IEEE | |
| dc.title | A hybrid model of obstacle-aided snake robot locomotion | nb_NO |
| dc.type | Journal article | nb_NO |
| dc.type | Peer reviewed | |
| dc.date.updated | 2015-05-09T12:08:59Z | |
| dc.description.version | acceptedVersion | |
| dc.rights.holder | IEEE | |
| dc.source.pagenumber | 675-682 | nb_NO |
| dc.source.journal | Proceedings / IEEE International Conference on Robotics and Automation | nb_NO |
| dc.identifier.doi | 10.1109/ROBOT.2010.5509834 | |
| dc.identifier.cristin | 517077 | |
| 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 |
