Title: The mechanics of undulatory locomotion: the mixed kinematic and dynamic case (15 pages)
Author(s): James P. Ostrowski, Joel W. Burdick, Andrew D. Lewis, and Richard M. Murray
Detail: Proceedings of the 1995 IEEE International Conference on Robotics and Automation, May 1995, pages 1945-1951 (IEEE copyright)
Conference proceedings version: Download

Original manuscript: 1995/03/01
Manuscript last revised: 1998/03/02

This paper studies the mechanics of undulatory locomotion. This type of locomotion is generated by a coupling of internal shape changes to external nonholonomic constraints. Employing methods from geometric mechanics, we use the dynamic symmetries and kinematic constraints to develop a specialized form of the dynamic equations which govern undulatory systems. These equations are written in terms of physically meaningful and intuitively appealing variables that show the role of internal shape changes in driving locomotion.

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Andrew D. Lewis (andrew at mast.queensu.ca)