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dc.contributor.authorLiljeback, Pål
dc.contributor.authorPettersen, Kristin Ytterstad
dc.contributor.authorStavdahl, Øyvind
dc.contributor.authorGravdahl, Jan Tommy
dc.date.accessioned2017-11-03T06:59:21Z
dc.date.available2017-11-03T06:59:21Z
dc.date.created2012-02-15T15:54:24Z
dc.date.issued2011
dc.identifier.citationIEEE Conference on Decision and Control. Proceedings. 2011, 1977-1984.nb_NO
dc.identifier.issn0743-1546
dc.identifier.urihttp://hdl.handle.net/11250/2463863
dc.description.abstractThis 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 for the robot to an equilibrium point must be time-varying. Furthermore, the analysis shows that the snake robot (with four links) is strongly accessible from almost any equilibrium point, except for certain singular configurations, and that the robot does not satisfy sufficient conditions for small-time local controllability (STLC). Averaging theory is employed to model the average velocity of the snake robot during lateral undulation. It is proven that the average velocity will converge exponentially fast to a steady state velocity, and an analytical expression for calculating the steady state velocity of the robot with an arbitrary number of links is presented. The paper presents simulation results that support the theoretical findings.nb_NO
dc.language.isoengnb_NO
dc.publisherInstitute of Electrical and Electronics Engineers (IEEE)nb_NO
dc.titleStability analysis of snake robot locomotion based on averaging theorynb_NO
dc.typeJournal articlenb_NO
dc.typePeer reviewednb_NO
dc.description.versionacceptedVersionnb_NO
dc.source.pagenumber1977-1984nb_NO
dc.source.journalIEEE Conference on Decision and Control. Proceedingsnb_NO
dc.identifier.doi10.1109/CDC.2010.5717822
dc.identifier.cristin909728
dc.description.localcode© 2010 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.nb_NO
cristin.unitcode194,63,25,0
cristin.unitnameInstitutt for teknisk kybernetikk
cristin.ispublishedtrue
cristin.fulltextpostprint
cristin.qualitycode1


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