@article {1088,
	title = {Centipede bio-extremity elastic model control},
	journal = {Journal of Micro-Bio Robotics},
	volume = {17},
	year = {2021},
	month = {09/03/2021},
	pages = {1-23},
	abstract = {<p>In this research, a specimen of arthropod, infraspecies <em>Cormocephalus calcaratus</em> (centipede) is the matter of study for modeling its trunk-limb biomechanics. The endoskeletal system was built to model and approach its passive dynamics motion. The limb\&rsquo;s musculoskeletal system was digitally \&rsquo;sculpted\&rsquo; in three-dimension using the planar taxonomic sagittal, ventral and transventral views as metrical references, constrained in scale and geometry. The endoskeleton was modeled by an equivalent network of spring-mass-damper muscles with five joints controlled by two input muscles to manipulate the limb\&rsquo;s tip. The kinematic position equations with their higher-order derivatives and the inner muscles dynamics were deduced for a Newton-based dynamic controller to resemble scramble up motion. Simulations produced realistic controlled motions with expected limb\&rsquo;s dexterity underactuation.</p>
},
	keywords = {3D modeling, Biorobot, Centipede, Limb, Musculoskeletal dexterity, Underactuation},
	issn = {2194-6418},
	doi = {10.1007/s12213-021-00141-y},
	url = {http://link.springer.com/10.1007/s12213-021-00141-y},
	author = {Miranda Guaderrama, Joel and Mart{\'\i}nez-Garc{\'\i}a, Edgar Alonso}
}
