Gait generation considering dynamics for artificial segmented worms

✍ Scribed by Joachim Steigenberger; Carsten Behn

• Book ID: 104090839
• Publisher: Elsevier Science
• Year: 2011
• Tongue: English
• Weight: 520 KB
• Volume: 59
• Category: Article
• ISSN: 0921-8890
• DOI: 10.1016/j.robot.2011.04.002

✦ Synopsis

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.