Modeling and control of two-link snake

[摘要] This article deals with using of geometric mechanics at modeling mixed mechanical locomotion systems. In introductory part, the division of locomotion systems and reduced motion equation, which create the mathematical model of the system, is analyzed. Further we devoted to example of mixed locomotion system—two-link snake. We created the mathematical model of this example, simulated this system, and represented other tools of geometric mechanics.

[学科分类] 自动化工程

[关键词] Two-link snake;nonholonomic constraint;Lagrangian;mathematical model;vector field;gait;height;gamma function