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A hybrid model of obstacle-aided snake robot locomotion

Abstract

A snake can traverse cluttered and irregular environments by using irregularities around its body as push-points to aid the propulsion. This characteristic feature of biological snake locomotion, denoted obstacle-aided locomotion, is investigated for snake robot locomotion purposes in this paper. The paper presents a hybrid model of the dynamics of a planar snake robot interacting with obstacles in its environment. Obstacle contact forces are calculated by formulating and solving a linear complementarity problem (LCP). The existence and uniqueness properties of the state evolution of the hybrid model are investigated. Simulation results validate the hybrid modelling approach.
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Category

Academic article

Language

English

Author(s)

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

Affiliation

  • SINTEF
  • Norwegian University of Science and Technology

Year

2010

Published in

IEEE International Conference on Robotics and Automation (ICRA)

ISSN

1050-4729

Page(s)

675 - 682

View this publication at Norwegian Research Information Repository