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Modeling of underwater snake robots
(;(ICRA 2014), Conference object; Journal article; Peer reviewed, 2014)
Increasing efficiency by improving the locomotion methods is a key issue for underwater robots. Hence, an accurate dynamic model is important for both controller design and efficient locomotion methods. This paper ...
Integral Line-of-Sight for path following of underwater snake robots
(Conference object; Journal article; Peer reviewed, 2014)
This paper considers straight line path following control of underwater snake robots in the presence of constant irrotational currents. An integral line-of-sight (LOS) guidance law is proposed, which is combined with a ...
Locomotion Efficiency of Underwater Snake Robots with Thrusters
(Chapter; Conference object; Peer reviewed, 2016)
Lately there has been an increasing interest for subsea inspection and intervention tasks, and in particular on solutions which combine smaller size, increased flexibility and maneuverability, and decreased cost. Biologically ...