Modeling and control of two-link snake. (13th March 2018)

• Record Type: Journal Article
• Authors: Lipták, Tomáš; Virgala, Ivan; Miková, L'ubica; Galajdová, Alena; Tuleja, Peter; Koukolová, Lucia; Varga, Jozef; Sukop, Marek
• Is Part Of: International journal of advanced robotic systems. Volume 15:Number 2(2018:Mar./Apr.)
• Publication Date: 2018-03-13
• Subjects: Two-link snake -- nonholonomic constraint -- Lagrangian -- mathematical model -- vector field -- gait -- height and gamma function; Robotics -- Periodicals; Robotics; Periodicals; 629.892
• DOI: 10.1177/1729881418760638
• Languages: English
• ISSNs: 1729-8806

Abstract

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.