Terrestrial Locomotion Modeling Bio-inspired by Elongated Animals

摘要

This paper presents a unified dynamic modeling approach of bio-inspired continuum robots. The resulting algorithm exploits a continuous version [1] 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 illustrative examples show that how this dynamic model work with the kinematic constraint model in order to produce locomotion. The efficiency of the algorithm is finally illustrated through examples related to the terrestrial locomotion of elongated animals such as snakes and worms.