Variations on the Role of Principal Connections in Robotic Locomotion
Conference Paper, Proceedings of ASME Dynamic Systems and Control Conference (DSCC '16), October, 2016
Abstract
Diverse problems in robotic locomotion have previously been modeled in terms of connections on principal bundles. Ordinarily, one identifies points in the base manifold of such a bundle with different internal configurations of a robot, identifies points in the fiber over a given base point with different positions and orientations of the robot in its environment, and assumes control to be applied in the former but not the latter. We examine ways in which the ordinary application of this theory may be adapted to problems in aquatic and terrestrial locomotion that fail to accommodate the preceding description.
BibTeX
@conference{Dear-2016-121402,author = {T. Dear and S. D. Kelly and H. Choset},
title = {Variations on the Role of Principal Connections in Robotic Locomotion},
booktitle = {Proceedings of ASME Dynamic Systems and Control Conference (DSCC '16)},
year = {2016},
month = {October},
}
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