Centipede Bio-Extremity Elastic Model Control

Abstract

In this research, a specimen of arthropod, infraspecies Cormocephalus calcaratus (centipede) is the matter of study for modeling its trunk-limb biomechanics. The endoskeletal system was built to model and approach its passive dynamics motion. The limb’s musculoskeletal system was digitally ’sculpted’ in three-dimension using the planar taxonomic sagittal, ventral and transventral views as metrical references, constrained in scale and geometry. The endoskeleton was modeled by an equivalent network of spring-mass-damper muscles with five joints controlled by two input muscles to manipulate the limb’s tip. The kinematic position equations with their higher-order derivatives and the inner muscles dynamics were deduced for a Newton-based dynamic controller to resemble scramble up motion. Simulations produced realistic controlled motions with expected limb’s dexterity underactuation.