Recursive inverse dynamics of a swimming snake-like robot with a tree-like mechanical structure - Archive ouverte HAL Accéder directement au contenu
Communication Dans Un Congrès Année : 2023

Recursive inverse dynamics of a swimming snake-like robot with a tree-like mechanical structure

Résumé

In this paper, we report a recursive inverse dynamical model for a new snake-like robot called NATRIX. This robot has been designed to maintain its gaze on the water surface and monitor sensible ecosystems. Inspired by real snakes, the robot features rotating outer shells allowing to change the level of immersion of each module and re-stabilize quickly the robot. This new degree of freedom leads to an original treelike geometric structure. We present here the theoretical model and the numerical solutions that allow us to simulate in real time the dynamics of the robot on the water surface. After reporting the benchmark of the simulator, we present surprising preliminary results suggesting the possibility of capsizing for a given frequency range.
Fichier principal
Vignette du fichier
arso_papier__version3_.pdf (3.63 Mo) Télécharger le fichier
Origine : Fichiers produits par l'(les) auteur(s)

Dates et versions

hal-04416912 , version 1 (25-01-2024)

Identifiants

Citer

Xiao Xie, Johann Herault, Vincent Lebastard, Frédéric Boyer. Recursive inverse dynamics of a swimming snake-like robot with a tree-like mechanical structure. 19th IEEE International Conference on Advanced Robotics and Its Social Impacts (ARSO 2023), Jun 2023, Berlin, Germany. pp.65-70, ⟨10.1109/ARSO56563.2023.10187577⟩. ⟨hal-04416912⟩
9 Consultations
8 Téléchargements

Altmetric

Partager

Gmail Facebook X LinkedIn More