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A snake robot joint mechanism with a contact force measurement system
(Journal article; Peer reviewed, 2009)
A snake robot can traverse cluttered and irregular environments by using irregularities around its body as pushpoints to aid the propulsion. This is denoted obstacle-aided locomotion and requires the snake robot to have ...
Integral Line-of-Sight Guidance of Underwater Vehicles Without Neutral Buoyancy
(Journal article; Peer reviewed, 2016)
This paper analyzes an integral line-of-sight guidance law applied to an underac-tuated underwater vehicle. The vehicle is rigorously modeled in 5 degrees of freedom usingphysical principles, and it is ...