To main content

A review on modelling, implementation, and control of snake robots

Abstract

This paper provides an overview of previous literature on snake robot locomotion. In particular, the paper considers previous research efforts related to modelling of snake robots, physical development of these mechanisms, and finally control design efforts for snake locomotion. The review shows that the majority of literature on snake robots so far has focused on locomotion over flat surfaces, but that there is a growing trend towards locomotion in environments that are more challenging, i.e. environments that are more in line with realistic applications of these mechanisms.
Read the publication

Category

Academic article

Language

English

Author(s)

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

Affiliation

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

Year

2012

Published in

Robotics and Autonomous Systems

ISSN

0921-8890

Volume

60

Issue

1

Page(s)

29 - 40

View this publication at Norwegian Research Information Repository