Multibody system dynamics for bio-inspired locomotion: from geometric structures to computational aspects

Boyer, Frédéric; Porez, Mathieu

doi:10.1088/1748-3190/10/2/025007

Cited by 35 publications

(28 citation statements)

References 69 publications

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“…As such, the bicycle belongs to the less common class of dynamic non-holonomic systems which have been studied over the past years in the community of geometric mechanics [15], and geometric control [6], with applications to planar undulatory systems as the snake-board [34,33,32]. In this system, the locomotion is based on the transfer of kinetic momentums from its internal (shape) degrees of freedom to its external (net) ones, through non-sliding conditions imposed by the wheels [11]. In spite of being a dynamic nonholonomic locomotion system as the snake-board or the younger trikke [17], the bicycle differs from these undulatory systems by several characteristics which make it a system unique.…”

Section: Introductionmentioning

confidence: 99%

Reduced Dynamics of the Non-holonomic Whipple Bicycle

2017

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Though the bicycle is a familiar object of everyday life, modelling its full nonlinear three-dimensional dynamics in a closed symbolic form is a difficult issue for classical mechanics. In this article, we address this issue without resorting to the usual simplifications on the bicycle kinematics nor its dynamics. To derive this model, we use a general reduction based approach in the principal fiber bundle of configurations of the three-dimensional bicycle. This includes a geometrically exact model of the contacts between the wheels and the ground, the explicit calculation of the kernel of constraints, along with the dynamics of the system free of any external forces, and its projection onto the kernel of admissible velocities. The approach takes benefits of the intrinsic formulation of geometric mechanics. Along the path toward the final equations, we show that the exact model of the bicycle dynamics requires to cope with a set of non-symmetric constraints with respect to the structural group of its configuration fiber bundle. The final reduced dynamics are simulated on several examples representative of the bicycle. As expected the constraints imposed by the ground contacts, as well as the energy conservation are satisfied, while the dynamics can be numerically integrated in real time.

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Section: Introductionmentioning

confidence: 99%

Reduced Dynamics of the Non-holonomic Whipple Bicycle

2017

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“…While most of the past modeling efforts have addressed specific locomotor configurations, it is desired to have a "paradigm model" for a class of locomotors, upon which a general theory of locomotion can be developed. A successful paradigm model, based on geometric mechanisms, exists [6], [7], [28], [29], which encompasses modeling/analysis of locomotors interacting with environment through kinematic (nonholonomic) constraints (rolling wheels, momentum preservation, etc.). This paradigm does not capture locomotors interacting with the environment through resistive forces resulting from relative body motion (swimming, slithering) under nontrivial inertia effects.…”

Section: Discussionmentioning

confidence: 99%

Dynamical Model and Optimal Turning Gait for Mechanical Rectifier Systems

Kohannim

Iwasaki

2017

IEEE Trans. Automat. Contr.

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Abstract-Animal locomotion can be viewed as mechanical rectification due to the dynamics that convert periodic body movements to a positive average thrust, resulting in a steady locomotion velocity. This paper considers a general multi-body mechanical rectifier under continuous interactions with the environment, with full rotation and translation in three dimensional space. The equations of motion are developed with respect to body coordinates to allow for direct analysis of maneuvering dynamics. The paper then formulates and solves an optimal turning gait problem for a mechanical rectifier traveling along a curved path, with propulsive forces generated by periodic body deformation (gait). In particular, the gait is optimized to minimize a quadratic cost function, subject to constraints on average locomotion velocity and average angular velocity. The problem is proven to reduce to two separate, tractable minimization problems solvable for globally optimal solutions. The first problem solves for the optimal shape offset that results in turning, while the other solves for the optimal gait that results in locomotion along a straight path. A case study of a locomotor in a fluid environment is presented to demonstrate the utility of the method for robotic locomotor design.

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“…A multibody system is a system consisting of a set of bodies connected to one another through internal joints and to the rest of the world through external joints or contacts. 18 Traditional methods take HUG as a single particle and miss some HUG's dynamic characteristics. With the help of multibody theory, every single part of HUG can be analyzed.…”

Section: Multibody Kinematicsmentioning

confidence: 99%

Design and flight performance of hybrid underwater glider with controllable wings

Wang

Zhang

et al. 2017

International Journal of Advanced Robotic Systems

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Hybrid underwater glider combines motion modes of traditional autonomous underwater glider and those of autonomous underwater vehicles. Different motion modes need different flight performance, including flight efficiency, static stability, and maneuverability. Conventional hybrid underwater glider with fixed wings can't achieve optimal flight performance in one flight mission demanding various motion modes. In this article, controllable wings for hybrid underwater glider Petrel II are designed. Angle of attack, sweep angle, and aspect ratio of controllable wings can be changed to adapt to different motion modes. Kinematics and dynamics models of Petrel II are established based on multibody theory. Motion simulations of Petrel II with different wing configurations are conducted in three motion modes, including glide motion, spiral motion, and horizontal turning motion. The simulation results show the impact of wing parameters on flight performance. Field trials demonstrate that the controllable wings can improve the flight performance.

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Multibody system dynamics for bio-inspired locomotion: from geometric structures to computational aspects

Cited by 35 publications

References 69 publications

Reduced Dynamics of the Non-holonomic Whipple Bicycle

Reduced Dynamics of the Non-holonomic Whipple Bicycle

Dynamical Model and Optimal Turning Gait for Mechanical Rectifier Systems

Design and flight performance of hybrid underwater glider with controllable wings

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