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Macro-continuous computed torque algorithm for a three-dimensional eel-like robot

Abstract : This paper presents the dynamic modeling of a continuous three-dimensional swimming eel-like robot. The modeling approach is based on the "geometrically exact beam theory" and on that of Newton-Euler, as it is well known within the robotics community. The proposed algorithm allows us to compute the robot's Galilean movement and the control torques as a function of the expected internal deformation of the eel's body.
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https://hal.archives-ouvertes.fr/hal-00630750
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Submitted on : Monday, October 10, 2011 - 9:31:43 PM
Last modification on : Tuesday, September 21, 2021 - 4:12:08 PM
Long-term archiving on: : Wednesday, January 11, 2012 - 2:36:00 AM

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  • HAL Id : hal-00630750, version 1

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Frédéric Boyer, Mathieu Porez, Wisama Khalil. Macro-continuous computed torque algorithm for a three-dimensional eel-like robot. IEEE Transactions on Robotics, IEEE, 2006, pp.563-775. ⟨hal-00630750⟩

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