Toward compliant systems
Bio-inspired locomotion dynamics in robotics
Article REF: S7757 V1
Toward compliant systems
Bio-inspired locomotion dynamics in robotics

Authors : Frédéric BOYER, Johan MAUNY, Mathieu POREZ

Publication date: October 10, 2019 | Lire en français

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8. Toward compliant systems

Here we consider the case of systems containing compliant components. If the deformation is applied along a preferred axis of such a component, the previous model for continuous robots can be applied to it. However, in this case, ξ is no longer a function of time determined by the Lagrange multiplier field f, but is governed by a constitutive law of the form:

f=R(X,ξ,ξ·).( 29 )

With these additional rheological laws, the model at

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