Browsing Publikasjoner fra CRIStin - SINTEF AS by Journals "IEEE Transactions on robotics"
Now showing items 1-3 of 3
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3-D Snake Robot Motion: Nonsmooth Modeling, Simulations, and Experiements
(Journal article; Peer reviewed, 2008)A nonsmooth (hybrid) 3-D mathematical model of a snake robot (without wheels) is developed and experimentally validated in this paper. The model is based on the framework of nonsmooth dynamics and convex analysis that ... -
Snake Robot Obstacle-Aided Locomotion: Modeling, Simulations, and Experiements
(Journal article; Peer reviewed, 2008)Snakes utilize irregularities in the terrain, such as rocks and vegetation, for faster and more efficient locomotion. This motivates the development of snake robots that actively use the terrain for locomotion, i.e., ... -
Stability Analysis of a Hierarchical Architecture for Discrete-Time Sensor-based Control of Robotic Systems
(Journal article; Peer reviewed, 2014)The stability of discrete time kinematic sensor-based control of robots is investigated in this paper. A hierarchical inner-loop/outer-loop control architecture common for a generic robotic system is considered. The inner ...