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Geometric Perspectives on the Mechanics and Control of Robotic Locomotion

Ostrowski, Jim and Burdick, Joel (1996) Geometric Perspectives on the Mechanics and Control of Robotic Locomotion. In: Robotics Research. Springer , London, pp. 536-547. ISBN 978-1-4471-1254-9.

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This paper uses geometric methods to study basic problems in locomotion. We consider in detail the case of “undulatory locomotion,”which is generated by a coupling of internal shape changes to external nonholonomic constraints. Such locomotion problems can be modeled as a connection on a principal fiber bündle. The properties of connections lead to simplified results for both the dynamics and controllability of locomotion systems. We demonstrate the utility of this approach on a novel “snakeboard”and a multi-segmented Serpentine robot which is modeled after Hirose’s ACM.

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Additional Information:© 1996 Springer-Verlag London.
Record Number:CaltechAUTHORS:20201201-125231230
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:106866
Deposited By: Tony Diaz
Deposited On:02 Dec 2020 17:58
Last Modified:02 Dec 2020 17:58

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