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. https://resolver.caltech.edu/CaltechAUTHORS:20201201-125231230
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Abstract
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.
| Item Type: | Book Section | |||||||||
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| Additional Information: | © 1996 Springer-Verlag London. | |||||||||
| Record Number: | CaltechAUTHORS:20201201-125231230 | |||||||||
| Persistent URL: | https://resolver.caltech.edu/CaltechAUTHORS:20201201-125231230 | |||||||||
| Usage Policy: | No commercial reproduction, distribution, display or performance rights in this work are provided. | |||||||||
| ID Code: | 106866 | |||||||||
| Collection: | CaltechAUTHORS | |||||||||
| Deposited By: | Tony Diaz | |||||||||
| Deposited On: | 02 Dec 2020 17:58 | |||||||||
| Last Modified: | 02 Dec 2020 17:58 |
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