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Macro-continuous computed torque algorithm for a three-dimensional eel-like robot

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3 Author(s)
F. Boyer ; Ecole des Mines de Nantes, France ; M. Porez ; W. Khalil

This paper presents the dynamic modeling of a continuous three-dimensional swimming eel-like robot. The modeling approach is based on the "geometrically exact beam theory" and on that of Newton-Euler, as it is well known within the robotics community. The proposed algorithm allows us to compute the robot's Galilean movement and the control torques as a function of the expected internal deformation of the eel's body

Published in:

IEEE Transactions on Robotics  (Volume:22 ,  Issue: 4 )