AUTHOR=Jing-Li Fu , Chun Xiang , Lei Meng TITLE=Algebraic Structure and Poisson Integral Method of Snake-Like Robot Systems JOURNAL=Frontiers in Physics VOLUME=9 YEAR=2021 URL=https://www.frontiersin.org/journals/physics/articles/10.3389/fphy.2021.643016 DOI=10.3389/fphy.2021.643016 ISSN=2296-424X ABSTRACT=

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.