This thesis proposes a general and unified methodological framework suitable for studying the locomotion of a wide range of robots, especially bio-inspired. The objective of this thesis is twofold. First, it contributes to the classification of locomotion robots by adopting the mathematical tools developed by the American school of geometric mechanics.Secondly, by taking advantage of the recursive nature of the Newton-Euler formulation, it proposes numerous efficient tools in the form of computational algorithms capable of solving the external direct dynamics and the internal inverse dynamics of any locomotion robot considered as a mobile multi-body system. These generic tools can help the engineers or researchers in the design, control and motion planning of manipulators as well as locomotion robots with a large number of internal degrees of freedom. The efficient algorithms are proposed for discrete and continuous robots. These methodological tools are applied to numerous illustrative examples taken from the bio-inspired robotics such as snake-like robots, caterpillars, and others like snake-board, etc.
| Identifer | oai:union.ndltd.org:CCSD/oai:tel.archives-ouvertes.fr:tel-00669588 |
| Date | 20 December 2011 |
| Creators | Ali, Shaukat |
| Publisher | Ecole des Mines de Nantes |
| Source Sets | CCSD theses-EN-ligne, France |
| Language | English |
| Detected Language | English |
| Type | PhD thesis |
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