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© 2013

Snake Robots

Modelling, Mechatronics, and Control

Book

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

  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

About the authors

The book is written by professors and doctoral researchers from the Norwegian University of Science and Technology. The authors are also associated with SINTEF, which is a Norwegian research organization that conducts applied research for the industry. NTNU and SINTEF have had cooperating research activities related to modelling, physical implementation, and control of snake robots since 2001. Over these years, our research group has acquired a leading role within this field with numerous publications in peer-reviewed conferences and top-ranked international journals. The research activity has resulted in the development of several snake robots which have attracted much national and international attention, and has also helped establish and strengthen relations with key research communities working with snake robots in Japan, USA, and the Netherlands. Nonlinear control of mechanical systems, which includes snake robot research, has been the main research activity by the research group of the authors for several decades with excellent results.

Bibliographic information

  • Book Title Snake Robots
  • Book Subtitle Modelling, Mechatronics, and Control
  • Authors Pål Liljebäck
    Kristin Ytterstad Pettersen
    Øyvind Stavdahl
    Jan Tommy Gravdahl
  • Series Title Advances in Industrial Control
  • Series Abbreviated Title Advances in Industrial Control
  • DOI https://doi.org/10.1007/978-1-4471-2996-7
  • Copyright Information Springer-Verlag London 2013
  • Publisher Name Springer, London
  • eBook Packages Engineering Engineering (R0)
  • Hardcover ISBN 978-1-4471-2995-0
  • Softcover ISBN 978-1-4471-7168-3
  • eBook ISBN 978-1-4471-2996-7
  • Series ISSN 1430-9491
  • Series E-ISSN 2193-1577
  • Edition Number 1
  • Number of Pages XVII, 317
  • Number of Illustrations 0 b/w illustrations, 0 illustrations in colour
  • Topics Robotics and Automation
    Control and Systems Theory
    Artificial Intelligence
    Mechatronics
  • Buy this book on publisher's site
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Reviews

From the book reviews:

“The monograph presents also the author’s own research and development in the field, which cover the full spectrum of mathematical modeling control design simulation studies and experimental demonstrator prototypes. … the intended audience for the present book consists of graduate students, Ph.D. students and scientists with an interest in robotics and control, specially in control and technology of snake robots or underactuated systems in general.” (Clementina Mladenova, zbMATH, Vol. 1291, 2014)

“Although the first snake robot dates back to 1972 … robotics courses rarely mention them. In light of this, Snake robots constitutes a clarifying and stimulating starting point. … The authors’ own research is presented in this book, and their insights enable the reader to understand the behind-the-scenes work on snake robot projects. This aspect of the book is very helpful for researchers. This book has a clear structure and can be easily followed, making it appropriate for teaching purposes.” (Ramon Gonzalez Sanchez, ACM Computing Reviews, October, 2012)