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| Main Authors: | , , , |
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| Format: | Preprint |
| Published: |
2024
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| Subjects: | |
| Online Access: | https://arxiv.org/abs/2402.13367 |
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Table of Contents:
- In this paper, we present an intrinsic derivation of the equations ruling the dynamics motion of a snake robot dynamics. Based on a Cosserat beam model, we first show that the extended configuration space is a Lie group. Endowing it with an appropriate left invariant metric, the corresponding Euler-Poincaré equations can be reduced to a system of hyperbolic PDEs in the Lie algebra $\mathfrak{se}(3)$. We also provide the constitutive law describing the actuation in this system of PDEs.