4 papers
Bio-inspired control model for snake locomotion based on Cosserat beam theory
Eliot Thys, Frédéric Boyer, Yacine Chitour +4
This paper revisits from a mathematical perspective the modeling of locomotion in snake-like bodies in fluid environement as given in \cite{boyer2010poincare} and \cite{boyer2011ma…
Collision Detection with Analytical Derivatives of Contact Kinematics
Anup Teejo Mathew, Anees Peringal, Daniele Caradonna +2
Differentiable contact kinematics are essential for gradient-based methods in robotics, yet the mapping from robot state to contact distance, location, and normal becomes non-smoot…
Analytical Derivatives for Efficient Mechanical Simulations of Hybrid Soft Rigid Robots
Anup Teejo Mathew, Frederic Boyer, Vincent Lebastard +1
Algorithms that use derivatives of governing equations have accelerated rigid robot simulations and improved their accuracy, enabling the modeling of complex, real-world capabiliti…
Intrinsic Derivation of the Equations of a Snake Robot based on a Cosserat Beam Model
Anis Bousclet, Frederic Boyer, Yacine Chitour +1
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 exte…