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Article Dans Une Revue IEEE Transactions on Robotics Année : 2006

Macro-continuous computed torque algorithm for a three-dimensional eel-like robot

Résumé

This paper presents the dynamic modeling of a continuous three-dimensional swimming eel-like robot. The modeling approach is based on the "geometrically exact beam theory" and on that of Newton-Euler, as it is well known within the robotics community. The proposed algorithm allows us to compute the robot's Galilean movement and the control torques as a function of the expected internal deformation of the eel's body.
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Dates et versions

hal-00630750 , version 1 (10-10-2011)

Identifiants

  • HAL Id : hal-00630750 , version 1

Citer

Frédéric Boyer, Mathieu Porez, Wisama Khalil. Macro-continuous computed torque algorithm for a three-dimensional eel-like robot. IEEE Transactions on Robotics, 2006, pp.563-775. ⟨hal-00630750⟩
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