A controllability criterion based on a physical analogy: Limbless locomotion and Object grasping in Robotics

Authors:
Zeki Y. Bayraktaroglu;Pierre Blazevic
Affiliations:
Istanbul Technical University (ITU), Faculty of Mechanical Engineering, System Dynamics & Control Department, Inonu Caddesi No. 87, Gumussuyu 34439, Beyoglu Istanbul (Turkey). E-mail: zeki.bayrakt ...;Université de Versailles Saint Quentin-en-Yvelines (UVSQ), Laboratoire de Robotique de Versailles (LRV), 10-12 avenue de l'Europe, 78140 Vélizy-Villacoublay (France). E-mail: pierre.blaz ...
Venue:
Robotica
Year:
2004

Citing 3
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Limbless locomotion: learning to crawl with a snake robot

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Abstract

This paper deals with the controllability of biologically inspired snake-like mechanisms. Motion equations of the generic snake-like mechanism and investigations on its controllability lead to extremely complicated mathematical representations. The authors establish a physical analogy between the undulatory snake locomotion and object grasping. Based on this analogy, they propose a controllability criterion concerning the motion of the mobile mechanism. Results of dynamic simulations of the controlled system systematically point to the validity of the analogy-based controllability criterion. The purpose of this work is to achieve an understanding of the undulatory motion which constitutes the basis of a biologically motivated experimental setup.