Title :
Experimental Investigation of Obstacle-Aided Locomotion With a Snake Robot
Author :
Liljeb?¤ck, P?¥l ; Pettersen, Kristin Y. ; Stavdahl, ??yvind ; Gravdahl, Jan Tommy
Author_Institution :
Dept. of Eng. Cybern., Norwegian Univ. of Sci. & Technol., Trondheim, Norway
Abstract :
In a recent paper, the authors have proposed a control strategy for a snake robot during obstacle-aided locomotion. In this paper, experimental results are presented where the controller is shown to successfully maintain the forward propulsion of a physical snake robot in a course with different obstacle configurations.
Keywords :
collision avoidance; mobile robots; control strategy; forward propulsion; obstacle-aided locomotion; snake robot; Force; Jamming; Joints; Lead; Propulsion; Robot sensing systems; Contact modeling; force and tactile sensing; snake robot; underactuated robots;
Journal_Title :
Robotics, IEEE Transactions on
Conference_Location :
4/29/2011 12:00:00 AM
DOI :
10.1109/TRO.2011.2134150
