LEADER 04085nam 2200601Ia 450 001 9910437913903321 005 20200520144314.0 010 $a1-280-99633-1 010 $a9786613767943 010 $a1-4471-2996-2 024 7 $a10.1007/978-1-4471-2996-7 035 $a(CKB)3190000000023826 035 $a(EBL)973674 035 $a(OCoLC)796783671 035 $a(SSID)ssj0000696768 035 $a(PQKBManifestationID)11416731 035 $a(PQKBTitleCode)TC0000696768 035 $a(PQKBWorkID)10701104 035 $a(PQKB)11717622 035 $a(DE-He213)978-1-4471-2996-7 035 $a(MiAaPQ)EBC973674 035 $a(PPN)168292319 035 $a(EXLCZ)993190000000023826 100 $a20120705d2012 uy 0 101 0 $aeng 135 $aur|n|---||||| 181 $ctxt 182 $cc 183 $acr 200 10$aSnake robots $emodelling, mechatronics, and control /$fPal Liljeback ... [et al.] 205 $a1st ed. 2013. 210 $aLondon ;$aNew York $cSpringer$d2012 215 $a1 online resource (316 p.) 225 1 $aAdvances in industrial control 300 $aDescription based upon print version of record. 311 $a1-4471-2995-4 320 $aIncludes bibliographical references and index. 327 $aFrom the Contents: Part I: Snake Robot Locomotion on Planar Surfaces -- A Complex Model of Snake Robot Locomotion -- Development of the Mechanical Snake Wheeko -- Analysis and Synthesis of Snake Robot Locomotion -- Path-following Control and Poincaré Map Analysis -- Part II: Snake Robot Locomotion in Unstructured Environments -- Introduction to Part II -- A Hybrid Model of Snake Robot Locomotion -- Development of the Mechanical Snake Kulko. 330 $aSnake Robots is a novel treatment of theoretical and practical topics related to snake robots: robotic mechanisms designed to move like biological snakes and able to operate in challenging environments in which human presence is either undesirable or impossible. Future applications of such robots include search and rescue, inspection and maintenance, and subsea operations. Locomotion in unstructured environments is a focus for this book. The text targets the disparate muddle of approaches to modelling, development and control of snake robots in current literature, giving a unified presentation of recent research results on snake robot locomotion to increase the reader?s basic understanding of these mechanisms and their motion dynamics and clarify the state of the art in the field. The book is a complete treatment of snake robotics, with topics ranging from mathematical modelling techniques, through mechatronic design and implementation, to control design strategies. The development of two snake robots is described and both are used to provide experimental validation of many of the theoretical results. Snake Robots is written in a clear and easily understandable manner which makes the material accessible by specialists in the field and non-experts alike. Numerous illustrative figures and images help readers to visualize the material. The book is particularly useful to new researchers taking on a topic related to snake robots because it  provides an extensive overview of the snake robot literature and also represents a suitable starting point for research in this area. Advances in Industrial Control aims to report and encourage the transfer of technology in control engineering. The rapid development of control technology has an impact on all areas of the control discipline. The series offers an opportunity for researchers to present an extended exposition of new work in all aspects of industrial control. 410 0$aAdvances in industrial control. 606 $aRobots 606 $aRobots$xControl systems 615 0$aRobots. 615 0$aRobots$xControl systems. 676 $a629.8932 700 $aLiljeback$b Pal$01064247 801 0$bMiAaPQ 801 1$bMiAaPQ 801 2$bMiAaPQ 906 $aBOOK 912 $a9910437913903321 996 $aSnake Robots$92537158 997 $aUNINA