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Motion Control for Undulatory Robots
Dimitris P. Tsakiris
ICS-FORTH
Institute of Computer Science
Foundation for Research and Technology - Hellas
tsakiris@ics.forth.gr

Abstract

Undulatory motion is an alternative to locomotion by legs, by actuated wheels or by actuated tracks. In this talk I will consider a multi-degree-of-freedom body whose shape can be made to vary in a controlled way. I will show how, in the presence of some form of interaction of the body with its environment, this can give rise to global motion (as opposed to in-place oscillation of the system).

Keywords

Bio-inspired robotics, Undulatory robotics