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Mathematical Modeling to Improve Control of Mesh Body for Peristaltic Locomotion

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Biomimetic and Biohybrid Systems (Living Machines 2017)

Part of the book series: Lecture Notes in Computer Science ((LNAI,volume 10384))

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Abstract

In this work, we built a kinematic simulation model for our worm robot, which does peristaltic locomotion. We studied the construction of our robot’s mesh-rhombus structure and the structural behavior in response to the actuator controls and simulated them in MATLAB. With some kinematic assumptions, we can model changes in body shape. Friction, gravity, internal forces are not directly modeled, however a single correction factor can be used to align the simulation and hardware progress. New control methods are found based on this model, which reduced the motion slip on the robot. In future work, this simulation can help us control and design future mesh-based robots.

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Authors and Affiliations

  1. Department of Mechanical and Aerospace Engineering, Case Western Reserve University, Cleveland, USA

    Yifan Huang, Akhil Kandhari, Roger D. Quinn & Kathryn A. Daltorio

  2. Department of Biology, Neurosciences and Biomedical Engineering, Case Western Reserve University, Cleveland, USA

    Hillel J. Chiel

Authors
  1. Yifan Huang
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  2. Akhil Kandhari
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  3. Hillel J. Chiel
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  4. Roger D. Quinn
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  5. Kathryn A. Daltorio
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Corresponding author

Correspondence to Yifan Huang .

Editor information

Editors and Affiliations

  1. University of Lincoln, Lincoln, United Kingdom

    Michael Mangan

  2. Stanford University, Stanford, California, USA

    Mark Cutkosky

  3. Universitat Pompeu Fabra, Barcelona, Spain

    Anna Mura

  4. Universitat Pompeu Fabra, Barcelona, Spain

    Paul F.M.J. Verschure

  5. University of Sheffield, Sheffield, United Kingdom

    Tony Prescott

  6. Bristol University, Bristol, United Kingdom

    Nathan Lepora

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Huang, Y., Kandhari, A., Chiel, H.J., Quinn, R.D., Daltorio, K.A. (2017). Mathematical Modeling to Improve Control of Mesh Body for Peristaltic Locomotion. In: Mangan, M., Cutkosky, M., Mura, A., Verschure, P., Prescott, T., Lepora, N. (eds) Biomimetic and Biohybrid Systems. Living Machines 2017. Lecture Notes in Computer Science(), vol 10384. Springer, Cham. https://doi.org/10.1007/978-3-319-63537-8_17

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  • DOI: https://doi.org/10.1007/978-3-319-63537-8_17

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-63536-1

  • Online ISBN: 978-3-319-63537-8

  • eBook Packages: Computer ScienceComputer Science (R0)

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