This article is cited in 3 papers

Control in Biological Systems and Medicine

Control of motion of an actively caterpillar-bending body

A. I. Litvintsev

Institute of Control Sciences, Russian Academy of Sciences, Moscow

Abstract: Equations of kinematics and dynamics of spanworm-bending body are deduced. An integral equation of bending moment distribution that controls the motion of parts of the body by current values of three kinematic parameters is derived. As is shown, the control of motion is conducted according to programs of motor commands that specify values of parameters. Special features of control in different motion problems are described.

PACS: 02.30.Yy

Presented by the member of Editorial Board: L. B. Rapoport

Received: 14.07.2006

 English version: Automation and Remote Control, 2008, 69:1, 114–124

Bibliographic databases:

• 
• 
• 
•