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Geometric Phases and Robotic Locomotion

Kelly, Scott D. and Murray, Richard M. (1994) Geometric Phases and Robotic Locomotion. California Institute of Technology . (Unpublished)

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Robotic locomotion is based in a variety of instances upon cyclic changes in the shape of a robot mechanism. Certain variations in shape exploit the constrained nature of a robot's interaction with its environment to generate net motion. This is true for legged robots, snakelike robots, and wheeled mobile robots undertaking maneuvers such as parallel parking. In this paper we explore the use of tools from differential geometry to model and analyze this class of locomotion mechanisms in a unified way. In particular, we describe locomotion in terms of the geometric phase associated with a connection on a principal bundle, and address issues such as controllability and choice of gait. We also provide an introduction to the basic mathematical concepts which we require and apply the theory to numerous example systems.

Item Type:Report or Paper (Technical Report)
Murray, Richard M.0000-0002-5785-7481
Group:Control and Dynamical Systems Technical Reports
Record Number:CaltechCDSTR:1994.CIT-CDS-94-014
Persistent URL:
Usage Policy:You are granted permission for individual, educational, research and non-commercial reproduction, distribution, display and performance of this work in any format.
ID Code:28002
Deposited By: Imported from CaltechCDSTR
Deposited On:23 Sep 2002
Last Modified:18 Mar 2015 23:20

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