Algebraic Structure and Poisson Integral Method of Snake-Like Robot Systems

Algebraic Structure and Poisson Integral Method of Snake-Like Robot Systems

The algebraic structure and Poisson's integral of snake-like robot systems are studied. The generalized momentum, Hamiltonian function, generalized Hamilton canonical equations, and their contravariant algebraic forms are obtained for snake-like robot systems. The Lie-admissible algebra structu...

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Bibliographic Details
Main Authors: Fu Jing-Li, Xiang Chun, Meng Lei
Format: Article
Language:English
Published: Frontiers Media S.A. 2021-06-01
Series:Frontiers in Physics
Subjects:
snake-like robot
algebraic structure
poisson integral
lagrange equation
hamiltonian function
Online Access:https://www.frontiersin.org/articles/10.3389/fphy.2021.643016/full
Description
Summary:The algebraic structure and Poisson's integral of snake-like robot systems are studied. The generalized momentum, Hamiltonian function, generalized Hamilton canonical equations, and their contravariant algebraic forms are obtained for snake-like robot systems. The Lie-admissible algebra structures of the snake-like robot systems are proved and partial Poisson integral methods are applied to the snake-like robot systems. The first integral methods of the snake-like robot systems are given. An example is given to illustrate the results.
ISSN:2296-424X

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