Title :
Multibody bionic systems modeling - The puppet master approach
Author :
Kowal, Janusz ; Lepiarz, Wojciech ; Sioma, Andrzej
Author_Institution :
Dept. of Process Control, AGH - Univ. of Sci. & Technol., Krakow, Poland
Abstract :
In this study, the puppet master approach to solve the kinematics of complex multi-body systems is introduced. The puppet master approach is shown in comparison with traditional analytical one. The method is used to solve multi-body systems of bio-inspired concept prototypes. In these examples the strong and weak sides of this approach are shown. The puppet master approach can be used to rapidly evaluate and compare different concept prototypes.
Keywords :
biocybernetics; biomimetics; mobile robots; modelling; robot kinematics; bio-inspired concept prototypes; biomimetics; complex multibody systems kinematics; multibody bionic systems modeling; puppet master approach; Algorithm design and analysis; Dynamics; Joints; Kinematics; Legged locomotion; Prototypes; biomimetics; bionics; modeling and simulation; multibody dynamics; process control; virtual prototyping;
Conference_Titel :
Carpathian Control Conference (ICCC), 2012 13th International
Conference_Location :
High Tatras
Print_ISBN :
978-1-4577-1867-0
DOI :
10.1109/CarpathianCC.2012.6228673
