Modeling and control of two-link snake

This article deals with using of geometric mechanics at modeling mixed mechanical locomotion systems. In introductory part, the division of locomotion systems and reduced motion equation, which create the mathematical model of the system, is analyzed. Further we devoted to example of mixed locomotio...

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Bibliographic Details
Published in:	International journal of advanced robotic systems Vol. 15; no. 2
Main Authors:	Lipták, Tomáš, Virgala, Ivan, Miková, L’ubica, Galajdová, Alena, Tuleja, Peter, Koukolová, Lucia, Varga, Jozef, Sukop, Marek
Format:	Journal Article
Language:	English
Published:	London, England SAGE Publications 01-03-2018 Sage Publications Ltd SAGE Publishing
Subjects:	Computer simulation Equations of motion Locomotion Mathematical analysis Mathematical models Mechanics (physics) Lagrangian vector field gait mathematical model height and gamma function nonholonomic constraint Two-link snake
Online Access:	Get full text
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Summary:	This article deals with using of geometric mechanics at modeling mixed mechanical locomotion systems. In introductory part, the division of locomotion systems and reduced motion equation, which create the mathematical model of the system, is analyzed. Further we devoted to example of mixed locomotion system—two-link snake. We created the mathematical model of this example, simulated this system, and represented other tools of geometric mechanics.
ISSN:	1729-8806 1729-8814
DOI:	10.1177/1729881418760638