Reduced Locomotion Dynamics With Passive Internal DoFs: Application to Nonholonomic and Soft Robotics

Boyer, Frédéric; Belkhiri, Ayman

doi:10.1109/tro.2013.2294733

Cited by 15 publications

(32 citation statements)

References 31 publications

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“…In this section, we present a reduction process of the dynamics of a MMS subject to constraints imposed by persistent point contacts with a rigid substrate. This process is introduced in [9] in the case when the system is possibly submitted to some imposed internal motions. Here, we will apply it to the case where only the internal forces can be imposed.…”

Section: Dynamics Of a Mms Subject To Persistent Contactsmentioning

confidence: 99%

“…All these difficulties probably explain why most of the bicycle dynamic models proposed so far are based on simplified designs, inertial approximations and approximated kinematics. In particular, the complex kinematic coupling imposed by the above mentioned kinematic loop as well as the configurationdependency of the contact points, are mostly ignored and replaced by approximated decoupled kinematics where the position of contact points in the bicycle frame only depend on its design parameters [38,21,9,10]. Beyond these analytical approximated models, recent progresses in computational multibody system dynamics have provided a definitive solution to the fully nonlinear dynamics of the Whipple bicycle and proposed a benchmark [30], which has opened the way toward the explanation of the self-stability of the bicycle [26], an issue that has been highly debated throughout the history of bicycle dynamics.…”

Section: Introductionmentioning

confidence: 99%

“…In this context, the dynamics of the bicycle are investigated on its configuration space SE(3) × S, where SE(3) stands for the special Euclidean Lie group of the bicycle net displacements in the three-dimensional ambient space, while S is the shape space of its internal degrees of freedom (DoF). Following a reduction approach presented in [9], the dynamics are first stated in (se(3) × T S/S) × (SE(3) × S), and then projected onto (ker(A, B)) × (SE(3) × S), where ker(A, B) stands for the kernel of a set of constraints modelling the zero ground-wheel velocities conditions. These kinematic constraints include the no-penetrating nor lifting conditions, a choice which allows changing the analytically unfeasible coordinate reduction into the feasible velocity reduction.…”

Section: Introductionmentioning

confidence: 99%

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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: Dynamics Of a Mms Subject To Persistent Contactsmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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Reduced Dynamics of the Non-holonomic Whipple Bicycle

2017

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“…Any kind of locomotion is the result of the dynamic interaction between the body deformation and the environment [19]. The quality of this interaction can be measured by calculating how the internal actuation power is translated into the kinetic power of the star system.…”

Section: Energetic Analysismentioning

confidence: 99%

A Multi-soft-body Dynamic Model for Underwater Soft Robots

Renda

Giorgio-Serchi

Boyer

et al. 2017

Springer Proceedings in Advanced Robotics

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We present a unified formulation for describing the dynamics of a new class of aquatic multi-body soft robots. This formulation accounts for the continuum hyperelastic nature of the vehicles and for the interaction with the dense fluid across which they dwell. We start by introducing the highly unconventional design concept of a soft underwater vehicle inspired by the octopus capable of swimming, manipulating and crawling. The dynamics of the robot, which consists of a multi-limbed continuum of elastomeric materials, is extremely complex to account for with conventional modelling tools. Hence a Cosserat based formalism where a Reissner shell model and a finite-strain beam formulation are joined is conceived which lends itself to the description of the highly non linear dynamics of this new family of vehicles in a dense fluid.

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“…Locomotion of the snake robot depends mainly on motor movements [2] and is controlled with the help of a motor driving L293d IC; in which simultaneous running of two motors is possible. To make the designed robot work in a desired way and making it fully functional, various sensors are attached to the robot body.…”

Section: B Driving Circuit and Sensorsmentioning

confidence: 99%

Modular Snake Robot with Mapping and Navigation: Urban Search and Rescue (USAR) Robot

.¹,

Murugan²,

Unnikkannan³

et al. 2015

2015 International Conference on Computing Communication Control and Automation

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This paper focuses on the design of a hyper redundant snake robot inspired from a real biological snake. Snakes have unique capabilities for moving on a wide range of terrain. The snake robot, rather than wheeled and legged mobile mechanisms, offers high stability. The paper presents a design of a snake robot that possesses the ability to map and navigate in its surroundings and also to find the possibility of human life. The snake robot is designed using sensors such as Ultrasonic sensors, PIR sensor and is designed to a moderate size segments so that easy locomotion is possible. The most effective movement pattern, flexible locomotion gaits such as sidewinding, crawling, plunging and leaping can be implemented on a snake robot. The snake robot can be used for many applications such as search and rescue operations in collapsed structure and inspection of tightly packed space that people and conventional machinery cannot access. To make the snake robot work or function like a real biological snake, it is constructed using many joints that enables the robot to have various degrees of bends, and gives the robot ability to be flexible enough to reach or approach different terrains. This ability of snake robot enables it to move around in complex environments.

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Reduced Locomotion Dynamics With Passive Internal DoFs: Application to Nonholonomic and Soft Robotics

Cited by 15 publications

References 31 publications

Reduced Dynamics of the Non-holonomic Whipple Bicycle

Reduced Dynamics of the Non-holonomic Whipple Bicycle

A Multi-soft-body Dynamic Model for Underwater Soft Robots

Modular Snake Robot with Mapping and Navigation: Urban Search and Rescue (USAR) Robot

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