Welcome to the new version of CaltechAUTHORS. Login is currently restricted to library staff. If you notice any issues, please email coda@library.caltech.edu
Published May 1995 | Published
Book Section - Chapter Open

The mechanics of undulatory locomotion: the mixed kinematic and dynamic case

Abstract

This paper studies the mechanics of undulatory locomotion. This type of locomotion is generated by a coupling of internal shape changes to external non-holonomic constraints. Employing methods from geometric mechanics, the authors use the dynamic symmetries and kinematic constraints to develop a specialized form of the dynamic equations which govern undulatory systems. These equations are written in terms of physically meaningful and intuitively appealing variables that show the role of internal shape changes in driving locomotion.

Additional Information

© 1995 IEEE.

Attached Files

Published - 00525549.pdf

Files

00525549.pdf
Files (785.6 kB)
Name Size Download all
md5:8f09ab1704c7179fa6b134144b42550b
785.6 kB Preview Download

Additional details

Created:
August 20, 2023
Modified:
October 20, 2023