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Snake Robots

Modelling, Mechatronics, and Control

  • Pål Liljebäck
  • Kristin Y. Pettersen
  • Øyvind Stavdahl
  • Jan Tommy Gravdahl

Part of the Advances in Industrial Control book series (AIC)

Table of contents

  1. Front Matter
    Pages I-XVII
  2. Pål Liljebäck, Kristin Y. Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl
    Pages 1-36
  3. Snake Robot Locomotion on Flat Surfaces

    1. Front Matter
      Pages 37-37
    2. Pål Liljebäck, Kristin Y. Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl
      Pages 39-54
    3. Pål Liljebäck, Kristin Y. Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl
      Pages 55-61
    4. Pål Liljebäck, Kristin Y. Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl
      Pages 63-87
    5. Pål Liljebäck, Kristin Y. Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl
      Pages 89-101
    6. Pål Liljebäck, Kristin Y. Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl
      Pages 103-129
    7. Pål Liljebäck, Kristin Y. Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl
      Pages 131-151
    8. Pål Liljebäck, Kristin Y. Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl
      Pages 153-185
  4. Snake Robot Locomotion in Cluttered Environments

    1. Front Matter
      Pages 187-187
    2. Pål Liljebäck, Kristin Y. Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl
      Pages 189-191
    3. Pål Liljebäck, Kristin Y. Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl
      Pages 193-219
    4. Pål Liljebäck, Kristin Y. Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl
      Pages 221-237
    5. Pål Liljebäck, Kristin Y. Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl
      Pages 239-263
    6. Pål Liljebäck, Kristin Y. Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl
      Pages 265-286
    7. Pål Liljebäck, Kristin Y. Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl
      Pages 287-291
  5. Back Matter
    Pages 293-317

About this book

Introduction

Snake Robots is a novel treatment of theoretical and practical topics related to snake robots: robotic mechanisms designed to move like biological snakes and able to operate in challenging environments in which human presence is either undesirable or impossible. Future applications of such robots include search and rescue, inspection and maintenance, and subsea operations. Locomotion in unstructured environments is a focus for this book.

The text targets the disparate muddle of approaches to modelling, development and control of snake robots in current literature, giving a unified presentation of recent research results on snake robot locomotion to increase the reader’s basic understanding of these mechanisms and their motion dynamics and clarify the state of the art in the field. The book is a complete treatment of snake robotics, with topics ranging from mathematical modelling techniques, through mechatronic design and implementation, to control design strategies. The development of two snake robots is described and both are used to provide experimental validation of many of the theoretical results.

Snake Robots is written in a clear and easily understandable manner which makes the material accessible by specialists in the field and non-experts alike. Numerous illustrative figures and images help readers to visualize the material. The book is particularly useful to new researchers taking on a topic related to snake robots because it  provides an extensive overview of the snake robot literature and also represents a suitable starting point for research in this area.

Advances in Industrial Control aims to report and encourage the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control.

Keywords

Control Applications Control Engineering Dynamical Modelling Dynamical Modelling and Control Applications Locomotion in Unstructured Environments Motion Control Robot Control Snake Robots

Authors and affiliations

  • Pål Liljebäck
    • 1
  • Kristin Y. Pettersen
    • 2
  • Øyvind Stavdahl
    • 3
  • Jan Tommy Gravdahl
    • 4
  1. 1.Applied CyberneticsSINTEF ICTTrondheimNorway
  2. 2.Department of Engineering CyberneticsNorwegian Univ. of Science & TechnologyTrondheimNorway
  3. 3.Department of Engineering CyberneticsNorwegian Univ. of Science & TechnologyTrondheimNorway
  4. 4.Department of Engineering CyberneticsNorwegian Univ. of Science & TechnologyTrondheimNorway

Bibliographic information

  • DOI https://doi.org/10.1007/978-1-4471-2996-7
  • Copyright Information Springer-Verlag London 2013
  • Publisher Name Springer, London
  • eBook Packages Engineering
  • Print ISBN 978-1-4471-2995-0
  • Online ISBN 978-1-4471-2996-7
  • Series Print ISSN 1430-9491
  • Series Online ISSN 2193-1577
  • Buy this book on publisher's site