Publiée le 06/04/11 à 10h15

Licence Creative Commons CC-By-NC-ND

Animals are fascinating for their abilities to displace in severe conditions with high performances in terms of agility and efficiency. This explains why roboticists today investigate a new generation of robots bio-insipired from snakes, moths, fishes, etc. For the bio-roboticist studying locomotion, the question is: what are the mechanisms that animals have discovered along evolution in order to solve the hard difficulties that robot designers and controllers face? For this purpose, generic tools of dynamic modelling and analysis are useful for roboticists and bio-mecanicists. The presentation has two objectives. First, it addresses the qualitative question of the classification of locomotor models and second, it gives efficient algorithmic tools for their computations. From the second objective, we will propose a general algorithm which can capture the dynamics of any multibody system realized by the connection of wheeled/unwheeled bodies. Enter into this class of systems, the over-constrained systems as are the snake like robots, the unconstrained systems as the walking robots in their flying phase or any underactuated nonholonomic system as the trike or the snake board...