Per Anders Stadheim
Papers
2
Total Citations
38
H-Index
2
About
Per Anders Stadheim is a robotics researcher whose work centers on the design, control, and locomotion of highly compliant snake robots. His major contributions lie in the development of **Serpens**, a low-cost, open-source modular snake robot featuring series elastic actuators, stereoscopic vision, and a screw-less assembly mechanism. Stadheim’s research advances the field of **perception-driven obstacle-aided locomotion (POAL)**, where snake robots use sensory feedback to navigate and propel themselves through cluttered environments. His most-cited paper (2019, 23 citations) introduces Serpens and demonstrates how a sensory-perceptual system enables autonomous locomotion in complex terrains. A second highly cited work (2019, 15 citations) details the robot’s elastic torque-controlled actuators and open-source design, addressing the high cost and lack of accessibility in existing elastic snake robots. Stadheim’s work is notable for making advanced, compliant snake robotics more affordable and reproducible, thereby lowering the barrier for further research and education in bio-inspired robotics. His contributions have significant implications for search-and-rescue, inspection, and exploration in confined or hazardous environments.
Research Focus
Key Achievements
Top Papers
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