NDLI: A geometric approach to anguilliform locomotion: modelling of an underwater eel robot

Content Provider	IEEE Xplore Digital Library
Author	Melsaac, K.A. Ostrowski, J.P.
Copyright Year	1999
Description	Author affiliation: Pennsylvania Univ., Philadelphia, PA, USA (Melsaac, K.A.)
Abstract	In this paper, we approach the modeling, simulation, and control of snake and eel-like robots from a geometric perspective. We propose basic viscous and fluid drag models to capture the effect of external forces acting on the bodies of land-based snakes and aquatic eels, respectively. Using these models, we show that the dynamics can be decomposed into motions in the position and orientation of the overall system and changes in its internal shape. This allows us to write reduced dynamics for the serpentine and swimming motions that isolate the effect of shape changes on the momentum of the system. We explore in simulation several types of locomotive gaits, and report qualitative experimental results that provide validation for these simulations.
Starting Page	2843
Ending Page	2848
File Size	644895
Page Count	6
File Format	PDF
ISBN	0780351800
ISSN	10504729
DOI	10.1109/ROBOT.1999.774028
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	1999-05-10
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Solid modeling Mobile robots Robotics and automation Robot sensing systems Biological system modeling Vehicle dynamics Shape Robot control Control system synthesis Motion control
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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