Terrestrial Locomotion Modeling Bio-inspired by Elongated Animals
نویسندگان
چکیده
This paper presents a unified dynamic modeling approach of bio-inspired continuum robots. The locomotion analysis shows that how this dynamic model work with the environmental interaction model in order to produce locomotion. The resulting algorithm exploits a continuous version [2] 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 efficiency of the algorithm is finally illustrated through many examples directly related to the terrestrial locomotion of elongated animals as snakes, worms and caterpillars.
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