2 papers
math.AP2026
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…
cs.RO2024
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…