By Topic

Dynamic Modeling and simulation of a 3-D Hybrid structure Eel-Like Robot

Sign In

Cookies must be enabled to login.After enabling cookies , please use refresh or reload or ctrl+f5 on the browser for the login options.

Formats Non-Member Member
$31 $13
Learn how you can qualify for the best price for this item!
Become an IEEE Member or Subscribe to
IEEE Xplore for exclusive pricing!
close button

puzzle piece

IEEE membership options for an individual and IEEE Xplore subscriptions for an organization offer the most affordable access to essential journal articles, conference papers, standards, eBooks, and eLearning courses.

Learn more about:

IEEE membership

IEEE Xplore subscriptions

3 Author(s)
Gallot, G. ; IRCCyN, Ecole Centrale de Nantes ; Ibrahim, O. ; Khalil, W.

In this paper, we present the dynamic modeling of a 3D-hybrid underwater eel-like robot using recursive algorithms based on the Newton-Euler equations. The robot is composed of a sequence of parallel modules connected in series. The algorithm gives the head accelerations and the joint torques as a function of the Cartesian positions, velocities and accelerations of the platform of the modules. The proposed algorithm can be considered as a generalization of the recursive Newton-Euler inverse dynamic algorithm of serial manipulators with fixed base. The proposed algorithm is easy to implement and to simulate whatever the number of degrees of freedom of the robot. An example with 12 parallel modules is presented.

Published in:

Robotics and Automation, 2007 IEEE International Conference on

Date of Conference:

10-14 April 2007