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dc.contributor.authorLiljeback, Pål
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorStavdahl, Øyvind
dc.date.accessioned2015-05-09T12:11:01Z
dc.date.accessioned2015-07-10T10:12:48Z
dc.date.available2015-05-09T12:11:01Z
dc.date.available2015-07-10T10:12:48Z
dc.date.issued2010
dc.identifier.citationProceedings / IEEE International Conference on Robotics and Automation 2010:683-690nb_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/11250/293028
dc.description- Author preprintnb_NO
dc.description.abstractA snake robot can traverse cluttered and irregular environments by using irregularities around its body as push-points 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 describes the development of a new snake robot aimed at meeting both these requirements. The paper details the design and implementation of the snake robot, presents experimental results that validate the function of the contact force measurement system, and demonstrates some of the motion capabilities of the robot.nb_NO
dc.language.isoengnb_NO
dc.publisherIEEE Conference Publicationsnb_NO
dc.rights© 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.
dc.titleA snake robot with a contact force measurement system for obstacle-aided locomotionnb_NO
dc.typeConference objectnb_NO
dc.date.updated2015-05-09T12:11:00Z
dc.rights.holderInstitute of Electrical and Electronics Engineers (IEEE)
dc.source.pagenumber683-690nb_NO
dc.source.journalProceedings / IEEE International Conference on Robotics and Automation 2010nb_NO
dc.identifier.doi10.1109/ROBOT.2010.5509839
dc.identifier.cristin517074
dc.description.localcode© 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.


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