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The mechanics of undulatory locomotion: the mixed kinematic and dynamic case

Ostrowski, Jim and Burdick, Joel and Lewis, Andrew D. and Murray, Richard M. (1995) The mechanics of undulatory locomotion: the mixed kinematic and dynamic case. In: Proceedings of 1995 IEEE International Conference on Robotics and Automation. Vol.2. IEEE , Piscataway, NJ, pp. 1945-1951. ISBN 0780319656. https://resolver.caltech.edu/CaltechAUTHORS:20190315-142359139

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Abstract

This paper studies the mechanics of undulatory locomotion. This type of locomotion is generated by a coupling of internal shape changes to external non-holonomic constraints. Employing methods from geometric mechanics, the authors use the dynamic symmetries and kinematic constraints to develop a specialized form of the dynamic equations which govern undulatory systems. These equations are written in terms of physically meaningful and intuitively appealing variables that show the role of internal shape changes in driving locomotion.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/robot.1995.525549DOIArticle
ORCID:
AuthorORCID
Murray, Richard M.0000-0002-5785-7481
Additional Information:© 1995 IEEE.
Record Number:CaltechAUTHORS:20190315-142359139
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190315-142359139
Official Citation:J. Ostrowski, J. Burdick, A. D. Lewis and R. M. Murray, "The mechanics of undulatory locomotion: the mixed kinematic and dynamic case," Proceedings of 1995 IEEE International Conference on Robotics and Automation, Nagoya, Japan, 1995, pp. 1945-1951 vol.2. doi: 10.1109/ROBOT.1995.525549
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:93882
Collection:CaltechAUTHORS
Deposited By: George Porter
Deposited On:15 Mar 2019 22:46
Last Modified:03 Oct 2019 20:58

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