Development, Modeling, and Testing of a Compliant Bistable Anguilliform Robot
- Author (aut): Kwan, Anson
- Thesis advisor (ths): Aukes, Daniel
- Committee member: Zhang, Wenlong
- Committee member: Marvi, Hamid
- Publisher (pbl): Arizona State University
In this paper, we discuss the methods and requirements to simulate a soft bodied beam using traditional rigid body kinematics to produce motion inspired by eels. Eels produce a form of undulatory locomotion called anguilliform locomotion that propagates waves throughout the entire body. The system that we are analyzing is a flexible 3D printed beam being actively driven by a servo motor. Using the simulation, we also analyze different parameters for these spines to maximize the linear speed of the system.