The mechanics of undulatory locomotion: the mixed kinematic and dynamic case

Author

Ostrowski, Jim ; Burdick, Joel ; Lewis, Andrew D. ; Murray, Richard M.

Author_Institution

Div. of Eng. & Appl. Sci., California Inst. of Technol., Pasadena, CA, USA

Volume

2

fYear

1995

fDate

21-27 May 1995

Firstpage

1945

Abstract

This paper studies the mechanics of undulatory locomotion. This type of locomotion is generated by a coupling of internal shape changes to external non-holonomic constraints. Employing methods from geometric mechanics, the authors use the dynamic symmetries and kinematic constraints to develop a specialized form of the dynamic equations which govern undulatory systems. These equations are written in terms of physically meaningful and intuitively appealing variables that show the role of internal shape changes in driving locomotion

Keywords

geometry; mobile robots; robot dynamics; robot kinematics; dynamic symmetries; external nonholonomic constraints; geometric mechanics; internal shape changes; kinematic constraints; mixed kinematic/dynamic problem; undulatory locomotion; Biological system modeling; Computer aided software engineering; Control theory; Equations; Lagrangian functions; Mechanical systems; Morphology; Orbital robotics; Robot kinematics; Shape;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 1995. Proceedings., 1995 IEEE International Conference on

Conference_Location

Nagoya

ISSN

1050-4729

Print_ISBN

0-7803-1965-6

Type

conf

DOI

10.1109/ROBOT.1995.525549

Filename

525549