Centipede bio-extremity elastic model control

Publication Type:Journal Article
Year of Publication:2021
Autoren:J. M. Guaderrama, Martínez-García E. A.
Journal:Journal of Micro-Bio Robotics
Volume:17
Problem:1
Pagination:1-23
Date Published:09/03/2021
ISSN:2194-6418
Schlüsselwörter:3D modeling, Biorobot, Centipede, Limb, Musculoskeletal dexterity, Underactuation
Zusammenfassung:

In this research, a specimen of arthropod, infraspecies Cormocephalus calcaratus (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’s musculoskeletal system was digitally ’sculpted’ 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’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’s dexterity underactuation.

URL:http://link.springer.com/10.1007/s12213-021-00141-y
DOI:10.1007/s12213-021-00141-y
Short Title:J. Micro-Bio Robot.
Citation Key:1088
Refereed Designation:Refereed
Scratchpads developed and conceived by (alphabetical): Ed Baker, Katherine Bouton Alice Heaton Dimitris Koureas, Laurence Livermore, Dave Roberts, Simon Rycroft, Ben Scott, Vince Smith