Title :
Macro-continuous computed torque algorithm for a three-dimensional eel-like robot
Author :
Boyer, Frédéric ; Porez, Mathieu ; Khalil, Wisama
Author_Institution :
Ecole des Mines de Nantes
Abstract :
This paper presents the dynamic modeling of a continuous three-dimensional swimming eel-like robot. The modeling approach is based on the "geometrically exact beam theory" and on that of Newton-Euler, as it is well known within the robotics community. The proposed algorithm allows us to compute the robot\´s Galilean movement and the control torques as a function of the expected internal deformation of the eel\´s body
Keywords :
biomimetics; continuous time systems; mobile robots; robot dynamics; torque control; Galilean movement; Newton-Euler theory; geometrically exact beam theory; macro-continuous computed torque algorithm; three-dimensional swimming eel-like robot; torque control; Biomimetics; Legged locomotion; Mobile robots; Prototypes; Robotic assembly; Shape; Skin; Spine; Torque control; Vehicle dynamics; Biomimetic; Lie groups; Newton–Euler algorithms; eel-like robot; hyper-redundant robot; locomotion;
Journal_Title :
Robotics, IEEE Transactions on
DOI :
10.1109/TRO.2006.875492
