Gait generation considering dynamics for artificial segmented worms

Authors:
Joachim Steigenberger;Carsten Behn
Affiliations:
Institute of Mathematics, Ilmenau University of Technology, Weimarer Straíe 25, 98693 Ilmenau, Germany;Department of Technical Mechanics, Ilmenau University of Technology, Max-Planck-Ring 12, Building F, 98693 Ilmenau, Germany
Venue:
Robotics and Autonomous Systems
Year:
2011

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Abstract

This paper deals with terrestrial worm-like locomotion systems living in a straight line. They are modeled as chains of mass points having ground interaction via spikes which make the velocities unidirectional. A method is presented to construct gaits with any desired time pattern of resting mass points (which are acted on by the propulsive forces). Taking the dynamics into consideration, conclusions about the choice and shift of gaits in connection with actuator data are given.