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“Modular Pneumatic Snake Robot: 3D Modelling, Implementation And Control”

Authors: Pål Liljebäck, Øyvind Stavdahl and Kristin Y. Pettersen,
Affiliation: SINTEF and NTNU, Department of Engineering Cybernetics
Reference: 2008, Vol 29, No 1, pp. 21-28.

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Keywords: Snake robot, kinematics, dynamics

Abstract: This paper gives a treatment of various aspects related to snake locomotion. A mathematical model and a physical implementation of a modular snake robot are presented. A control strategy is also developed, yielding a general expression for different gait patterns. Two forms of locomotion have been simulated with the mathematical model, and experiments with the physical snake robot have been conducted. The simulation results revealed the parameter through which directional control may be achieved for each gait pattern. Experiments with the physical snake robot gave a crude qualitative verification of these findings.

PDF PDF (491 Kb)        DOI: 10.4173/mic.2008.1.2

DOI forward links to this article:
  [1] ZhiFeng Wang, ShuGen Ma, Bin Li and YueChao Wang (2011), doi:10.1007/s11432-010-4161-z
  [2] Cagdas D Onal and Daniela Rus (2013), doi:10.1088/1748-3182/8/2/026003
  [3] P. Liljebäck, K.Y. Pettersen, Ø. Stavdahl and J.T. Gravdahl (2012), doi:10.1016/j.robot.2011.08.010
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  [6] A.A. Transeth, R.I. Leine, C. Glocker and K.Y. Pettersen (2008), doi:10.1109/TRO.2008.917003
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  [11] V. S. Rajashekhar and Swagat Kumar (2015), doi:10.1109/ROBIO.2015.7419056
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  title={{Modular Pneumatic Snake Robot: 3D Modelling, Implementation And Control}},
  author={Liljebäck, Pål and Stavdahl, Øyvind and Pettersen, Kristin Y.},
  journal={Modeling, Identification and Control},
  publisher={Norwegian Society of Automatic Control}


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