Poincaré-Cosserat equations for the Lighthill three-dimensional large amplitude elongated body theory: application to robotics

DOI10.1007/s00332-009-9050-5zbMath1427.76289OpenAlexW2055845023MaRDI QIDQ610703

Frederic Boyer, Alban Leroyer, Mathieu Porez

Publication date: 10 December 2010

Published in: Journal of Nonlinear Science (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s00332-009-9050-5

zbMATH Keywords

Lie groupsLagrangian reductioneel-like robotshyper-redundant locomotionPoincaré-Cosserat equationsswimming dynamics

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Biopropulsion in water and in air (76Z10)

Related Items (4)

Modelling lateral manoeuvres in fish ⋮ Locomotion dynamics for bio-inspired robots with soft appendages: application to flapping flight and passive swimming ⋮ Simulations of propelling and energy harvesting articulated bodies via vortex particle-mesh methods ⋮ Poincaré's equations for Cosserat media: application to shells

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