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Journal Articles

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2019
[j13]
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Eleni Kelasidi, Signe Moe, Kristin Ytterstad Pettersen, Anna M. Kohl, Pål Liljebäck, Jan Tommy Gravdahl:
Path Following, Obstacle Detection and Obstacle Avoidance for Thrusted Underwater Snake Robots. Frontiers Robotics AI 6: 57 (2019)
2018
[j12]
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Filippo Sanfilippo, Øyvind Stavdahl, Pål Liljebäck:
SnakeSIM: a ROS-based control and simulation framework for perception-driven obstacle-aided locomotion of snake robots. Artif. Life Robotics 23(4): 449-458 (2018)
2017
[j11]
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Eleni Kelasidi, Pål Liljebäck, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl:
Integral Line-of-Sight Guidance for Path Following Control of Underwater Snake Robots: Theory and Experiments. IEEE Trans. Robotics 33(3): 610-628 (2017)
2016
[j10]
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Eleni Kelasidi, Pål Liljebäck, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl:
Innovation in Underwater Robots: Biologically Inspired Swimming Snake Robots. IEEE Robotics Autom. Mag. 23(1): 44-62 (2016)
2013
[j9]
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Pål Liljebäck, Kristin Ytterstad Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl:
Lateral undulation of snake robots: a simplified model and fundamental properties. Robotica 31(7): 1005-1036 (2013)
2012
[j8]
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Pål Liljebäck, Kristin Ytterstad Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl:
A review on modelling, implementation, and control of snake robots. Robotics Auton. Syst. 60(1): 29-40 (2012)
[j7]
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Pål Liljebäck, Idar U. Haugstuen, Kristin Ytterstad Pettersen:
Path Following Control of Planar Snake Robots Using a Cascaded Approach. IEEE Trans. Control. Syst. Technol. 20(1): 111-126 (2012)
2011
[j6]
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Pål Liljebäck, Kristin Ytterstad Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl:
Controllability and Stability Analysis of Planar Snake Robot Locomotion. IEEE Trans. Autom. Control. 56(6): 1365-1380 (2011)
[j5]
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Pål Liljebäck, Kristin Ytterstad Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl:
Experimental Investigation of Obstacle-Aided Locomotion With a Snake Robot. IEEE Trans. Robotics 27(4): 792-800 (2011)
2010
[j4]
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  - journals/paladyn/LiljebackSPG10
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Pål Liljebäck, Øyvind Stavdahl, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl:
Two new design concepts for snake robot locomotion in unstructured environments. Paladyn J. Behav. Robotics 1(3): 154-159 (2010)
[j3]
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Pål Liljebäck, Kristin Ytterstad Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl:
Hybrid Modelling and Control of Obstacle-Aided Snake Robot Locomotion. IEEE Trans. Robotics 26(5): 781-799 (2010)
2009
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Aksel Andreas Transeth, Kristin Ytterstad Pettersen, Pål Liljebäck:
A survey on snake robot modeling and locomotion. Robotica 27(7): 999-1015 (2009)
2008
[j1]
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Aksel Andreas Transeth, Remco I. Leine, Christoph Glocker, Kristin Ytterstad Pettersen, Pål Liljebäck:
Snake Robot Obstacle-Aided Locomotion: Modeling, Simulations, and Experiments. IEEE Trans. Robotics 24(1): 88-104 (2008)

Conference and Workshop Papers

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2020
[c35]
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Kristian G. Hanssen, Aksel Andreas Transeth, Filippo Sanfilippo, Pål Liljebäck, Øyvind Stavdahl:
Path Planning for Perception-Driven Obstacle-Aided Snake Robot Locomotion. AMC 2020: 98-104
2017
[c34]
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  - conf/robio/SanfilippoSL17
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Filippo Sanfilippo, Øyvind Stavdahl, Pål Liljebäck:
SnakeSIM: A ROS-based rapid-prototyping framework for perception-driven obstacle-aided locomotion of snake robots. ROBIO 2017: 1226-1231
2016
[c33]
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Filippo Sanfilippo, Jon Azpiazu, Giancarlo Marafioti, Aksel Andreas Transeth, Øyvind Stavdahl, Pål Liljebäck:
A review on perception-driven obstacle-aided locomotion for snake robots. ICARCV 2016: 1-7
[c32]
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Filippo Sanfilippo, Øyvind Stavdahl, Giancarlo Marafioti, Aksel Andreas Transeth, Pål Liljebäck:
Virtual functional segmentation of snake robots for perception-driven obstacle-aided locomotion? ROBIO 2016: 1845-1851
[c31]
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Eleni Kelasidi, Kristin Ytterstad Pettersen, Pål Liljebäck, Jan Tommy Gravdahl:
Locomotion efficiency of underwater snake robots with thrusters. SSRR 2016: 174-181
2014
[c30]
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Eleni Kelasidi, Kristin Ytterstad Pettersen, Pål Liljebäck, Jan Tommy Gravdahl:
Integral line-of-sight for path following of underwater snake robots. CCA 2014: 1078-1085
[c29]
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Ehsan Rezapour, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl, Pål Liljebäck:
Body shape and orientation control for locomotion of biologically-inspired snake robots. BioRob 2014: 993-1000
[c28]
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Ehsan Rezapour, Kristin Ytterstad Pettersen, Pål Liljebäck, Jan Tommy Gravdahl:
Differential geometric modelling and robust path following control of snake robots using sliding mode techniques. ICRA 2014: 4532-4539
[c27]
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Eleni Kelasidi, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl, Pål Liljebäck:
Modeling of underwater snake robots. ICRA 2014: 4540-4547
[c26]
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Pål Liljebäck, Kristin Ytterstad Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl:
Compliant control of the body shape of snake robots. ICRA 2014: 4548-4555
[c25]
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Pål Liljebäck, Øyvind Stavdahl, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl:
Mamba - A waterproof snake robot with tactile sensing. IROS 2014: 294-301
[c24]
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Pål Liljebäck, Kristin Ytterstad Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl:
A 3D motion planning framework for snake robots. IROS 2014: 1100-1107
[c23]
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  - conf/robio/MarafiotiLT14
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Giancarlo Marafioti, Pål Liljebäck, Aksel Andreas Transeth:
A study of Nonlinear Model Predictive Control (NMPC) for snake robot path following. ROBIO 2014: 568-573
2013
[c22]
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Aksel Andreas Transeth, Sigurd Aksnes Fjerdingen, Pål Liljebäck:
Snake robot obstacle-aided locomotion on inclined and vertical planes: Modeling, control strategies and simulation. ICM 2013: 321-328
[c21]
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  - conf/nolcos/PettersenLSG13
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Kristin Ytterstad Pettersen, Pål Liljebäck, Øyvind Stavdahl, Jan Tommy Gravdahl:
Snake Robots - from Biology to Nonlinear Control. NOLCOS 2013: 110-115
[c20]
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Ehsan Rezapour, Kristin Ytterstad Pettersen, Pål Liljebäck, Jan Tommy Gravdahl:
Path following control of planar snake robots using virtual holonomic constraints. ROBIO 2013: 530-537
2012
[c19]
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Pål Liljebäck, Kristin Ytterstad Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl:
A control framework for snake robot locomotion based on shape control points interconnected by Bézier curves. IROS 2012: 3111-3118
[c18]
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Pål Liljebäck, Øyvind Stavdahl, Kristin Ytterstad Pettersen, Jan Tommy Gravdahl:
A modular and waterproof snake robot joint mechanism with a novel force/torque sensor. IROS 2012: 4898-4905
2011
[c17]
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Pål Liljebäck, Kristin Ytterstad Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl:
Path following control of snake robots in unstructured environments. ICRA 2011: 503-510
[c16]
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Pål Liljebäck, Kristin Ytterstad Pettersen:
Waypoint guidance control of snake robots. ICRA 2011: 937-944
2010
[c15]
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Pål Liljebäck, Idar U. Haugstuen, Kristin Ytterstad Pettersen:
Path following control of planar snake robots using a cascaded approach. CDC 2010: 1969-1976
[c14]
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Pål Liljebäck, Kristin Ytterstad Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl:
Stability analysis of snake robot locomotion based on averaging theory. CDC 2010: 1977-1984
[c13]
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Pål Liljebäck, Kristin Ytterstad Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl:
Experimental investigation of fundamental properties of snake robot locomotion. ICARCV 2010: 187-194
[c12]
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Pål Liljebäck, Idar U. Haugstuen, Kristin Ytterstad Pettersen:
Experimental investigation of a path following controller for planar snake robots. ICARCV 2010: 2325-2332
[c11]
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Pål Liljebäck, Kristin Ytterstad Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl:
A hybrid model of obstacle-aided snake robot locomotion. ICRA 2010: 675-682
[c10]
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Pål Liljebäck, Kristin Ytterstad Pettersen, Øyvind Stavdahl:
A snake robot with a contact force measurement system for obstacle-aided locomotion. ICRA 2010: 683-690
[c9]
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Pål Liljebäck, Kristin Ytterstad Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl:
A simplified model of planar snake robot locomotion. IROS 2010: 2868-2875
[c8]
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Pål Liljebäck, Kristin Ytterstad Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl:
Fundamental properties of snake robot locomotion. IROS 2010: 2876-2883
2009
[c7]
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Pål Liljebäck, Kristin Ytterstad Pettersen, Øyvind Stavdahl:
Modelling and control of obstacle-aided snake robot locomotion based on jam resolution. ICRA 2009: 3807-3814
[c6]
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Pål Liljebäck, Sigurd Aksnes Fjerdingen, Kristin Ytterstad Pettersen, Øyvind Stavdahl:
A snake robot joint mechanism with a contact force measurement system. ICRA 2009: 3815-3820
[c5]
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Pål Liljebäck, Kristin Ytterstad Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl:
Controllability analysis of planar snake robots influenced by viscous ground friction. IROS 2009: 3615-3622
[c4]
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Pål Liljebäck, Kristin Ytterstad Pettersen, Øyvind Stavdahl, Jan Tommy Gravdahl:
Stability analysis of snake robot locomotion based on Poincaré maps. IROS 2009: 3623-3630
[c3]
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Sigurd Aksnes Fjerdingen, Pål Liljebäck, Aksel Andreas Transeth:
A snake-like robot for internal inspection of complex pipe structures (PIKo). IROS 2009: 5665-5671
2007
[c2]
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Aksel Andreas Transeth, Pål Liljebäck, Kristin Ytterstad Pettersen:
Snake robot obstacle aided locomotion: An experimental validation of a non-smooth modeling approach. IROS 2007: 2582-2589
2006
[c1]
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  - conf/icarcv/LiljebackSB06
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Pål Liljebäck, Øyvind Stavdahl, Anders Beitnes:
SnakeFighter - Development of a Water Hydraulic Fire Fighting Snake Robot. ICARCV 2006: 1-6

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