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arXiv · 2402.13367

Intrinsic Derivation of the Equations of a Snake Robot based on a Cosserat Beam Model

Anis Bousclet·Frederic Boyer·Yacine Chitour·Swann Marx
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Abstract

In this paper, we present an intrinsic derivation of the equations ruling the dynamics motion of a snake robot dynamics. Based on a Cosserat beam model, we first show that the extended configuration space is a Lie group. Endowing it with an appropriate left invariant metric, the corresponding Euler-Poincar\'e equations can be reduced to a system of hyperbolic PDEs in the Lie algebra $\mathfrak{se}(3)$. We also provide the constitutive law describing the actuation in this system of PDEs.

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Anis Bousclet, Frederic Boyer, Yacine Chitour, Swann Marx. 2024-02-20. Intrinsic Derivation of the Equations of a Snake Robot based on a Cosserat Beam Model. https://arxiv.org/abs/2402.13367

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