000014305 001__ 14305
000014305 005__ 20161115100147.0
000014305 04107 $$aeng
000014305 046__ $$k2016-08-21
000014305 100__ $$aSpinello, Davide
000014305 24500 $$aPeristaltic wave locomotion with a millipede inspired mechanism

000014305 24630 $$n24.$$p24th International Congress of Theoretical and Applied Mechanics - Book of Papers
000014305 260__ $$bInternational Union of Theoretical and Applied Mechanics, 2016
000014305 506__ $$arestricted
000014305 520__ $$2eng$$aWe propose the model of a flexible mechanism that adapts to unstructured terrains. The locomotion mechanics is inspired by the one of multi-legged organisms such as millipedes and millipedes, whose efficiency in exploring unstructured environments is due to high redundancy and robustness of their locomotion system based on multiple contacts with the terrain. Leg to ground contact kinematics can be modeled as a peristaltic displacement wave [1], with periodic contact that provides redundancy and robustness for locomotion. The body of the mechanism is modeled as a Timoshenko beam, whose kinematics captures the basic morphology of millipedes and centipedes bodies. With respect to our work in [2] we propose a different locomotion model that is based on the mechanics of legged peristaltic locomotion [3]. A Lagrangian approach is used to derive the governing equations of the system that couple locomotion and shape morphing, that are illustrated by simulation results.

000014305 540__ $$aText je chráněný podle autorského zákona č. 121/2000 Sb.
000014305 653__ $$a

000014305 7112_ $$a24th International Congress of Theoretical and Applied Mechanics$$cMontreal (CA)$$d2016-08-21 / 2016-08-26$$gICTAM2016
000014305 720__ $$aSpinello, Davide
000014305 8560_ $$ffischerc@itam.cas.cz
000014305 8564_ $$s159376$$uhttps://invenio.itam.cas.cz/record/14305/files/PO.SM11-1.07.162.pdf$$yOriginal version of the author's contribution as presented on CD,  page 2597, code PO.SM11-1.07.162
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000014305 962__ $$r13812
000014305 980__ $$aPAPER