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ICRA
2009
IEEE
125views Robotics» more  ICRA 2009»
9 years 7 months ago
Mapping opaque and confined environments using proprioception
Mapping opaque and confined environments such as caves and pipes is a challenging problem for mobile robots because sensor information is severely limited to the immediate proximit...
Jacob Everist, Wei-Min Shen
TROB
2008
99views more  TROB 2008»
9 years 9 months ago
Snake Robot Obstacle-Aided Locomotion: Modeling, Simulations, and Experiments
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 u...
Aksel Andreas Transeth, Remco I. Leine, Christoph ...
TROB
2008
141views more  TROB 2008»
9 years 9 months ago
3-D Snake Robot Motion: Nonsmooth Modeling, Simulations, and Experiments
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 nonsmo...
Aksel Andreas Transeth, Remco I. Leine, Christoph ...
ROBIO
2006
IEEE
122views Robotics» more  ROBIO 2006»
10 years 3 months ago
Non-smooth 3D Modeling of a Snake Robot with External Obstacles
Abstract— In this paper we extend a non-smooth 3D mathematical model of a snake robot to also include external obstacles to enable obstacle aided locomotion. The model is based o...
Aksel Andreas Transeth, Remco I. Leine, Christoph ...
ICARCV
2006
IEEE
126views Robotics» more  ICARCV 2006»
10 years 3 months ago
Developments in Snake Robot Modeling and Locomotion
— Snake robots may one day play a crucial role in search and rescue operations and fire-fighting where it may either be too narrow or to dangerous for personnel to operate. Pro...
Aksel Andreas Transeth, Kristin Ytterstad Petterse...
IROS
2007
IEEE
120views Robotics» more  IROS 2007»
10 years 3 months ago
Differentiable and piecewise differentiable gaits for snake robots
—This paper describes a series of gaits which we developed for a free crawling snake robot. Snake robots, a class of hyper-redundant mechanisms, can use their many degrees of fre...
Kevin Lipkin, Isaac Brown, Aaron Peck, Howie Chose...
IROS
2007
IEEE
138views Robotics» more  IROS 2007»
10 years 3 months ago
Tracking control for snake robot joints
— This paper considers the problem of model based control of the joints of a snake robot without wheels. The potential range of applications for snake robots are numerous, and de...
Aksel Andreas Transeth, Nathan van de Wouw, Alexey...
ICRA
2007
IEEE
149views Robotics» more  ICRA 2007»
10 years 3 months ago
Frictional Compliance Model Development and Experiments for Snake Robot Climbing
Abstract— Intelligently utilizing the frictional contact between a robot and its environment can prevent slip, maintain balance, and provide stability during a robot’s motion. ...
Amir Shapiro, Aaron Greenfield, Howie Choset
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