{"title":"Dynamic modeling and simulation of a snake-like multibody robotic system with ground-adaptive strategy and efficient undulatory locomotion","authors":"Shaukat Ali","doi":"10.1007/s11044-024-09967-3","DOIUrl":null,"url":null,"abstract":"<p>This article presents a strategy of self adaptation for planar undulatory locomotion of an elongated, snake-like multibody robotic system under both non-varying and varying surface friction. Based on the system dynamics, an algorithm is developed to investigate the locomotion performance and its dependence upon the lateral undulation parameters. The celerity of the lateral undulatory wave propagating over the body of the robot is taken as a key parameter, since the variation of the celerity affects the forward propulsion speed of the robot. Moreover, celerity of the lateral undulatory wave is a linear function of the angular frequency of the sinusoidal motion imposed on the joints of the robot. Considering the static-kinetic lateral friction, the proposed algorithm computes the important point of separation between no-lateral slip and lateral slip simply with the help of celerity and speed of propulsion. Therefore, the results identify the optimum speed of propulsion for ground-adaptivity and efficient undulatory locomotion of the robot. The simulation results further verify the influence of the angular frequency of the sinusoidal joint motion upon the speed of propagation of the undulatory wave and also upon the speed of propulsion of the robot. This research work can provide useful basis for the control, optimization and self-adaptive locomotion of such and similar robots.</p>","PeriodicalId":49792,"journal":{"name":"Multibody System Dynamics","volume":null,"pages":null},"PeriodicalIF":2.6000,"publicationDate":"2024-02-19","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"0","resultStr":null,"platform":"Semanticscholar","paperid":null,"PeriodicalName":"Multibody System Dynamics","FirstCategoryId":"5","ListUrlMain":"https://doi.org/10.1007/s11044-024-09967-3","RegionNum":2,"RegionCategory":"工程技术","ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"Q2","JCRName":"MECHANICS","Score":null,"Total":0}
引用次数: 0
Abstract
This article presents a strategy of self adaptation for planar undulatory locomotion of an elongated, snake-like multibody robotic system under both non-varying and varying surface friction. Based on the system dynamics, an algorithm is developed to investigate the locomotion performance and its dependence upon the lateral undulation parameters. The celerity of the lateral undulatory wave propagating over the body of the robot is taken as a key parameter, since the variation of the celerity affects the forward propulsion speed of the robot. Moreover, celerity of the lateral undulatory wave is a linear function of the angular frequency of the sinusoidal motion imposed on the joints of the robot. Considering the static-kinetic lateral friction, the proposed algorithm computes the important point of separation between no-lateral slip and lateral slip simply with the help of celerity and speed of propulsion. Therefore, the results identify the optimum speed of propulsion for ground-adaptivity and efficient undulatory locomotion of the robot. The simulation results further verify the influence of the angular frequency of the sinusoidal joint motion upon the speed of propagation of the undulatory wave and also upon the speed of propulsion of the robot. This research work can provide useful basis for the control, optimization and self-adaptive locomotion of such and similar robots.
期刊介绍:
The journal Multibody System Dynamics treats theoretical and computational methods in rigid and flexible multibody systems, their application, and the experimental procedures used to validate the theoretical foundations.
The research reported addresses computational and experimental aspects and their application to classical and emerging fields in science and technology. Both development and application aspects of multibody dynamics are relevant, in particular in the fields of control, optimization, real-time simulation, parallel computation, workspace and path planning, reliability, and durability. The journal also publishes articles covering application fields such as vehicle dynamics, aerospace technology, robotics and mechatronics, machine dynamics, crashworthiness, biomechanics, artificial intelligence, and system identification if they involve or contribute to the field of Multibody System Dynamics.