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A controllability criterion based on a physical analogy: Limbless locomotion and Object grasping in Robotics

机译：基于物理类比的可控性标准：机器人中的无肢运动和物体抓取

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This paper deals with the controllability of biologically inspired snake-like mechanisms. Motion equations of the generic snake-like mechanism and investigations on its controllability lead to extremely complicated mathematical representations. The authors establish a physical analogy between the undulatory snake locomotion and object grasping. Based on this analogy, they propose a controllability criterion concerning the motion of the mobile mechanism. Results of dynamic simulations of the controlled system systematically point to the validity of the analogy-based controllability criterion. The purpose of this work is to achieve an understanding of the undulatory motion which constitutes the basis of a biologically motivated experimental setup.
机译：本文涉及生物学启发的蛇状机制的可控性。通用蛇形机构的运动方程式及其可控性研究导致了极其复杂的数学表示。作者在起伏的蛇运动和物体抓握之间建立了物理类比。基于这种类比，他们提出了有关移动机构运动的可控性标准。受控系统的动态仿真结果系统地指出了基于类比的可控性标准的有效性。这项工作的目的是获得对波动运动的理解，该波动运动是生物学驱动的实验装置的基础。

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