• DocumentCode
    3560760
  • 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
  • Volume
    27
  • Issue
    4
  • fYear
    2011
  • Firstpage
    792
  • Lastpage
    800
  • 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;
  • fLanguage
    English
  • Journal_Title
    Robotics, IEEE Transactions on
  • Publisher
    ieee
  • Conference_Location
    4/29/2011 12:00:00 AM
  • ISSN
    1552-3098
  • Type

    jour

  • DOI
    10.1109/TRO.2011.2134150
  • Filename
    5759101
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3560760