歩行と蛇行を橋渡しするストークス的移動
Bridging Walking and Slithering -- Stokesian Locomotion
脚式歩行と蛇行・低レイノルズ数遊泳を「ストークス的局所接続モデル」で統一的に扱い、滑りを伴う脚式移動のモデル化への道を開いた論文。
著者: Shai Revzen, Dan Zhao, Glenna Clifton, Brian Bittner, Nick Gravish
分類: cs.RO
原文アブストラクト
Both legged locomotion and slithering motions typically utilize periodic gaits -- repeating cycles of body shape change that produce a net motion through the world. Legged locomotion can be viewed from the perspective of piece-wise contact constraint formation and removal. Slithering and low Reynolds number swimming operate under continuous constraints of force balance, wherein dissipation removes the ability to accumulate momentum. Here we discuss how to bridge the gap between these domains of motion, thereby, among other benefits, producing models for the space of legged locomotion with slipping. The connective fabric is the use of a "Stokesian", or "local connection" model.
