Overview
ABSTRACT
This article presents a set of generic tools of Multibody Systems dynamics devoted to the study of bioinspired locomotion in robotics. Starting from examples borrowed from nature and robotics, we will pose a general problem of locomotion whose resolution will allow us to progressively install a unified geometric framework dedicated to this problem. For that purpose, we start from the model of discrete mobile multibody systems, that we will progressively extend to the case of continuous and finally soft systems. Beyond these theoretical aspects, we address the practical problem of the efficient computation of these models by proposing an efficient locomotion dynamics Newton-Euler based approach with a few illustration on creeping, swimming and flying.
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Read the articleAUTHORS
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Frédéric BOYER : Professor - IMT Atlantique, Nantes, France
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Johan MAUNY : Postdoctoral researcher - IMT Atlantique, Nantes, France
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Mathieu POREZ : Robotics Expert at PA.COTTE - PA.COTTE, Nantes, France
INTRODUCTION
Despite advances in robotics, the locomotive abilities of animals—including our own—are truly remarkable . To cite just a few examples, it is remarkable that, despite their extremely simple anatomy, snakes are not only capable of moving through any type of solid environment using various modes of locomotion, but can also swim and even glide. Fish, for their part, enjoy unmatched maneuverability and efficiency in water. They can turn around without even decelerating and swim effortlessly in turbulent currents. Certain insects are capable of rapid and precise aerial maneuvers and have developed subtle strategies to harvest energy from their environment. These examples alone explain why roboticists seek to design animal-inspired locomotor robots such as the ACM-III , a pioneering robot capable of replicating the lateral undulation of snakes. Measuring 2 m in length, the ACM-III is a multi-body system composed of 21 segments interconnected by 20 motorized joints; its passive wheels replicate the anisotropy of friction forces, which, in the animal, is achieved by its ventral scales , . Since then, several snake robots designed for planar or three-dimensional locomotion in rough environments have been developed
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KEYWORDS
Biologically-Inspired Robots | Multibody Systems | Lagrangian Locomotion Dynamics | Geometric Mechanics
Modelling the dynamics of the locomotion
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