Open AccessTerrestrial Locomotion Modeling Bio-inspired by Elongated Animals
Author(s) -
Shaukat Ali,
Frédéric Boyer,
Mathieu Porez
Publication year - 2011
Publication title -
procedia computer science
Language(s) - English
Resource type - Journals
SCImago Journal Rank - 0.334
H-Index - 76
ISSN - 1877-0509
DOI - 10.1016/j.procs.2011.09.011
Subject(s) - computer science , kinematics , robot , robot locomotion , exploit , constraint (computer aided design) , torque , terrestrial locomotion , simulation , control theory (sociology) , artificial intelligence , control (management) , mobile robot , robot control , classical mechanics , physics , mathematics , ecology , geometry , computer security , biology , thermodynamics
This paper presents a unified dynamic modeling approach of bio-inspired continuum robots. The resulting algorithm exploits a continuous version [1] of the Newton-Euler models of discrete structures and, is capable of computing the net motions as well as the internal control torques (and/or forces) of the continuum robot. The illustrative examples show that how this dynamic model work with the kinematic constraint model in order to produce locomotion. The efficiency of the algorithm is finally illustrated through examples related to the terrestrial locomotion of elongated animals such as snakes and worms
Accelerating Research
Robert Robinson Avenue,
Oxford Science Park, Oxford
OX4 4GP, United Kingdom
Address
John Eccles HouseRobert Robinson Avenue,
Oxford Science Park, Oxford
OX4 4GP, United Kingdom