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2007
IEEE

Polychaete-like Pedundulatory Robotic Locomotion

9 years 23 days ago
Polychaete-like Pedundulatory Robotic Locomotion
— The polychaete annelid marine worms propel themselves in a variety of challenging locomotion environments by a unique form of tail-to-head body undulations, combined with the synchronized action of numerous parapodial lateral appendages. This combined parapodial and undulatory mode of locomotion is termed pedundulatory in the present work. Robotic analogues of this type of locomotion are being studied, both in simulation, and via experiments with biomimetic robotic prototypes, which combine undulatory movements of their multi-link body with appropriately coordinated parapodial link oscillations. Extensive experimental studies of locomotion on sand demonstrate the potential of the pedundulatory robotic prototypes, especially their rich gait repertoire and their enhanced performance compared to robotic prototypes relying only on body undulations. Keywords - biomimetic robotics, undulatory locomotion, legged locomotion, motion control, polychaete annelids.
Michael Sfakiotakis, Dimitris P. Tsakiris, Kostas
Added 03 Jun 2010
Updated 03 Jun 2010
Type Conference
Year 2007
Where ICRA
Authors Michael Sfakiotakis, Dimitris P. Tsakiris, Kostas Karakasiliotis
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