Modelling the dynamics of the locomotion

Modélisation de la dynamique de la locomotion.

Frédéric Boyer (1, 2) , Johan Mauny (1, 2) , Mathieu Porez

1 LS2N - équipe ReV - Robotique Et Vivant
2 IMT Atlantique - DAPI - Département Automatique, Productique et Informatique

This article presents a set of generic tools of Multibody Systems dynamics devoted to the study of bioinspired locomotion in robotics. Starting from examples borrowed from nature and robotics, we will pose a general problem of locomotion whose resolution will allow us to progressively install a unified geometric framework dedicated to this problem. For that purpose, we start from the model of discrete mobile multibody systems, that we will progressively extend to the case of continuous and finally soft systems. Beyond these theoretical aspects, we address the practical problem of the efficient computation of these models by proposing an efficient locomotion dynamics Newton-Euler based approach with a few illustration on creeping, swimming and flying.

Cet article présente un ensemble d'outils génériques en dynamique des systèmes mul-ticorps consacrés à l'étude de la locomotion bio-inspirée. Partant d'exemples empruntés à la nature et la robotique, nous poserons un problème général de locomotion dont la résolution nous permettra d'installer progressivement un cadre géométrique unifié dédié à ce problème. Pour cela, nous partirons du modèle des systèmes multicorps mobiles dis-crets, que nous étendrons progressivement au cas des systèmes continus puis mous. Nous aborderons également le problème pratique de l'implémentation efficace de ces modèles en proposant une approche basée sur la méthode de Newton-Euler, illustrée par quelques exemples liés à la reptation, la natation et le vol. Abstract This article presents a set of generic tools of Multibody Systems dynamics devoted to the study of bioinspired locomotion in robotics. Starting from examples borrowed from nature and robotics, we will pose a general problem of locomotion whose resolution will allow us to progressively install a unified geometric framework dedicated to this problem. For that purpose, we start from the model of discrete mobile multibody systems, that we will progressively extend to the case of continuous and finally soft systems. Beyond these theoretical aspects, we address the practical problem of the efficient computation of these models by proposing an efficient locomotion dynamics Newton-Euler based approach with a few illustration on creeping, swimming and flying.

Mots clés: Biologically-Inspired Robots; Multibody Systems; Lagrangian Locomotion Dynamics; Geometric Mechanics

Mots clés: Robots bio-inspirés; Systèmes multicorps; Dynamique lagrangienne de la locomotion; Mécanique géométrique

Domaines: Robotique [cs.RO]

Frédéric Boyer, Johan Mauny, Mathieu Porez. Modélisation de la dynamique de la locomotion.. Les Techniques de l'Ingenieur, 2019, ⟨10.51257/a-v1-s7757⟩. ⟨hal-02552647⟩