This project aims to develop new methods and tools to control snake robots for use in challenging real-life operations, in earthquake-hit areas, pipe inspection for oil and gas industry, fire-fighting operations and search and rescue. The research team is composed of some members from the Department of Engineering Cybernetics, NTNU, including Associate Professor Øyvind Stavdahl, Research Scientist Pål Liljebäck and Postdoctoral Fellow Filippo Sanfilippo. Other members of the research team are from the Department of Applied Cybernetics, SINTEF, including Senior Scientist Aksel A. Transeth, Research Scientist Giancarlo Marafioti and Research Scientist Jon Azpiazu.
This work is supported by the Research Council of Norway through the Young research talents funding scheme, project title “SNAKE - Control Strategies for Snake Robot Locomotion in Challenging Outdoor Environments”, project number 240072.
Filippo Sanfilippo, Øyvind Stavdahl and Pål Liljebäck. SnakeSIM: a ROS-based Rapid-Prototyping Framework for Perception-Driven Obstacle-Aided Locomotion of Snake Robots. Accepted for publication to the Proceeding of the IEEE International Conference on Robotics and Biomimetics (ROBIO), Macau, China, 2017.
Filippo Sanfilippo, Øyvind Stavdahl and Pål Liljebäck. SnakeSIM: a Snake Robot Simulation Framework for Perception-Driven Obstacle-Aided Locomotion. Accepted for publication to the Proceeding of the 2nd International Symposium on Swarm Behavior and Bio-Inspired Robotics (SWARM), Kyoto, Japan, 2017.
Filippo Sanfilippo, Jon Azpiazu, Giancarlo Marafioti, Aksel A Transeth, Øyvind Stavdahl and Pål Liljebäck. Perception-driven obstacle-aided locomotion for snake robots: the state of the art, challenges and possibilities. In Applied Sciences, 2017, 7, 336.
Filippo Sanfilippo, Øyvind Stavdahl, Giancarlo Marafioti, Aksel A Transeth and Pål Liljebäck. Virtual Functional Segmentation of Snake Robots for Perception-Driven Obstacle-Aided Locomotion. In Proceeding of the IEEE Conference on Robotics and Biomimetics (ROBIO), Qingdao, China. 2016, 1845–1851.
Filippo Sanfilippo, Jon Azpiazu, Giancarlo Marafioti, Aksel A Transeth, Øyvind Stavdahl and Pål Liljebäck. A Review on Perception-driven Obstacle-aided Locomotion for Snake Robots. In Proceeding of the 14th IEEE International Conference on Control, Automation, Robotics and Vision (ICARCV), Phuket, Thailand. 2016.