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A 3D motion planning framework for snake robots

Abstract

This paper presents a motion planning framework for three-dimensional body shape control of snake robots. Whereas conventional motion planning approaches define the body shape of snake robots in terms of their individual joint angles, the proposed framework allows the body shape to be specified in terms of Cartesian coordinates in the environment of the robot. This approach simplifies motion planning since Cartesian coordinates are more intuitively mapped to the overall body shape of the snake robot. The paper demonstrates the applicability of the framework for realizing different types of three-dimensional motion patterns.
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Category

Academic chapter

Language

English

Author(s)

  • Pål Liljebäck
  • Kristin Ytterstad Pettersen
  • Øyvind Stavdahl
  • Jan Tommy Gravdahl

Affiliation

  • SINTEF Digital / Mathematics and Cybernetics
  • Norwegian University of Science and Technology

Year

2014

Publisher

Curran Associates, Inc.

Book

IEEE/RSJ International Conference on Intelligent Robots and Systems, 2014 (IROS 2014), Chicago, Ill. 14-18 Sept. 2014

ISBN

9781479969357

Page(s)

1100 - 1107

View this publication at Norwegian Research Information Repository