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 | 2015-05-09T11:26:57Z | |
dc.date.accessioned | 2015-07-10T11:33:50Z | |
dc.date.available | 2015-05-09T11:26:57Z | |
dc.date.available | 2015-07-10T11:33:50Z | |
dc.date.issued | 2010 | |
dc.identifier.citation | Wen, Changyun [Eds.] Proceedings / 11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010) p. 187-194, IEEE conference proceedings, 2010 | nb_NO |
dc.identifier.isbn | 978-1-4244-7814-9 | |
dc.identifier.uri | http://hdl.handle.net/11250/293070 | |
dc.description.abstract | This paper derives and experimentally investigates fundamental properties of the velocity of a snake robot conducting lateral undulation. In particular, the derived properties state that the average forward velocity of the snake robot 1) is proportional to the squared amplitude of the sinusoidal motion of each joint of the robot, 2) is proportional to the angular frequency of the sinusoidal motion of each joint, 3) is proportional to a particular function of the constant phase shift between the joints, and 4) is maximized by the phase shift between the joints that also maximizes the particular phase shift function. The paper presents an experimental investigation of the validity of these derived properties by measuring the forward velocity of a physical snake robot during lateral undulation. The experimental results support the theoretical findings. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | IEEE Conference Publications | nb_NO |
dc.relation.ispartofseries | Proceedings / 11th International Conference on Control, Automation, Robotics and Vision (ICARCV 2010).; | |
dc.rights | (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. | |
dc.title | Experimental investigation of fundamental properties of snake robot locomotion | nb_NO |
dc.type | Chapter | nb_NO |
dc.type | Peer reviewed | |
dc.date.updated | 2015-05-09T11:26:57Z | |
dc.description.version | acceptedVersion | |
dc.rights.holder | Institute of Electrical and Electronics Engineers (IEEE) | |
dc.source.pagenumber | 187 - 194 | nb_NO |
dc.identifier.doi | 10.1109/ICARCV.2010.5707241 | |
dc.identifier.cristin | 517989 | |
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 |