Blar i SINTEF Open på forfatter "Stavdahl, Øyvind"

Viser treff 1-4 av 4

    • Path Planning for Perception-Driven Obstacle-Aided Snake Robot Locomotion 

      Hanssen, Christian; Transeth, Aksel Andreas; Sanfilippo, Filippo; Liljebäck, Pål; Stavdahl, Øyvind (Chapter, 2020)
      Development of snake robots have been motivated by the ability of snakes to move efficiently in unstructured and cluttered environments. A snake robot has the potential to utilise obstacles for generating locomotion, in ...

    • Perception-Driven Obstacle-Aided Locomotion for Snake Robots: The State of the Art, Challenges and Possibilities 

      Sanfilippo, Filippo; Azpiazu, Jon; Marafioti, Giancarlo; Transeth, Aksel Andreas; Stavdahl, Øyvind; Liljebäck, Pål (Journal article; Peer reviewed, 2017)
      In nature, snakes can gracefully traverse a wide range of different and complex environments. Snake robots that can mimic this behaviour could be fitted with sensors and transport tools to hazardous or confined areas that ...

    • Snake Robots - From Biology to Nonlinear Control 

      Pettersen, Kristin Ytterstad; Liljebäck, Pål; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article, 2013)
      Inspired by the motion of biological snakes, this paper presents an overview of recent results in modelling and control of snake robots. The objective of the research underlying this paper is to contribute to the mathematical ...

    • Stability analysis of snake robot locomotion based on averaging theory 

      Liljeback, Pål; Pettersen, Kristin Ytterstad; Stavdahl, Øyvind; Gravdahl, Jan Tommy (Journal article; Peer reviewed, 2011)
      This paper investigates the controllability and stability properties of a planar snake robot influenced by anisotropic viscous ground friction. An analysis of the model shows that any asymptotically stabilizing control law ...