SIMUUN: A SIMULATION ENVIRONMENT Abstract FOR UNDULATORY LOCOMOTION
This paper presents SIMUUN, a block-based simulation environment, which has been developed on top of Matlab/Simulink TM, in order to facilitate research into various aspects of undulatory locomotion in biology and robotics. Simulations of snake-like mechanisms are set up in this environment by conne...
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ftciteseerx:oai:CiteSeerX.psu:10.1.1.134.2759 2023-05-15T13:27:34+02:00 SIMUUN: A SIMULATION ENVIRONMENT Abstract FOR UNDULATORY LOCOMOTION M. Sfakiotakis D. P. Tsakiris The Pennsylvania State University CiteSeerX Archives application/pdf http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.134.2759 http://www.ics.forth.gr/~tsakiris/Papers/IJMS_2006.pdf en eng http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.134.2759 http://www.ics.forth.gr/~tsakiris/Papers/IJMS_2006.pdf Metadata may be used without restrictions as long as the oai identifier remains attached to it. http://www.ics.forth.gr/~tsakiris/Papers/IJMS_2006.pdf Key Words Biomechanical modelling undulatory locomotion robotics biology Anguilla anguilla eel text ftciteseerx 2016-01-07T14:39:10Z This paper presents SIMUUN, a block-based simulation environment, which has been developed on top of Matlab/Simulink TM, in order to facilitate research into various aspects of undulatory locomotion in biology and robotics. Simulations of snake-like mechanisms are set up in this environment by connecting customizable SIMUUN body segment modules via appropriate joint blocks, which are activated either by explicit or by neuromuscular joint control modules, to propagate a travelling wave along the mechanism. Several force models are included in SIMUUN to characterize the interaction with the locomotion environment, and emulate crawling, walking and swimming. The simulation tools developed were used to study anguilliform swimming in robotics and in biology, and assess the effect of different body configurations on gait generation. Related simulation results are presented to illustrate the versatility of these tools and the potential of their use in a variety of domains. Text Anguilla anguilla Unknown |
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Key Words Biomechanical modelling undulatory locomotion robotics biology Anguilla anguilla eel |
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Key Words Biomechanical modelling undulatory locomotion robotics biology Anguilla anguilla eel M. Sfakiotakis D. P. Tsakiris SIMUUN: A SIMULATION ENVIRONMENT Abstract FOR UNDULATORY LOCOMOTION |
topic_facet |
Key Words Biomechanical modelling undulatory locomotion robotics biology Anguilla anguilla eel |
description |
This paper presents SIMUUN, a block-based simulation environment, which has been developed on top of Matlab/Simulink TM, in order to facilitate research into various aspects of undulatory locomotion in biology and robotics. Simulations of snake-like mechanisms are set up in this environment by connecting customizable SIMUUN body segment modules via appropriate joint blocks, which are activated either by explicit or by neuromuscular joint control modules, to propagate a travelling wave along the mechanism. Several force models are included in SIMUUN to characterize the interaction with the locomotion environment, and emulate crawling, walking and swimming. The simulation tools developed were used to study anguilliform swimming in robotics and in biology, and assess the effect of different body configurations on gait generation. Related simulation results are presented to illustrate the versatility of these tools and the potential of their use in a variety of domains. |
author2 |
The Pennsylvania State University CiteSeerX Archives |
format |
Text |
author |
M. Sfakiotakis D. P. Tsakiris |
author_facet |
M. Sfakiotakis D. P. Tsakiris |
author_sort |
M. Sfakiotakis |
title |
SIMUUN: A SIMULATION ENVIRONMENT Abstract FOR UNDULATORY LOCOMOTION |
title_short |
SIMUUN: A SIMULATION ENVIRONMENT Abstract FOR UNDULATORY LOCOMOTION |
title_full |
SIMUUN: A SIMULATION ENVIRONMENT Abstract FOR UNDULATORY LOCOMOTION |
title_fullStr |
SIMUUN: A SIMULATION ENVIRONMENT Abstract FOR UNDULATORY LOCOMOTION |
title_full_unstemmed |
SIMUUN: A SIMULATION ENVIRONMENT Abstract FOR UNDULATORY LOCOMOTION |
title_sort |
simuun: a simulation environment abstract for undulatory locomotion |
url |
http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.134.2759 http://www.ics.forth.gr/~tsakiris/Papers/IJMS_2006.pdf |
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Anguilla anguilla |
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Anguilla anguilla |
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http://www.ics.forth.gr/~tsakiris/Papers/IJMS_2006.pdf |
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http://citeseerx.ist.psu.edu/viewdoc/summary?doi=10.1.1.134.2759 http://www.ics.forth.gr/~tsakiris/Papers/IJMS_2006.pdf |
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Metadata may be used without restrictions as long as the oai identifier remains attached to it. |
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