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Geometric Perspectives on the Mechanics and Control of Robotic Locomotion

  • Jim Ostrowski
  • Joel Burdick

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 bundle. 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.

Keywords

Geometric Phasis Kinematic Constraint Nonholonomic System Connection Form Robotic Research 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© Springer-Verlag London Limited 1996

Authors and Affiliations

  • Jim Ostrowski
    • 1
  • Joel Burdick
    • 1
  1. 1.Dept. of Mechanical EngineeringCalifornia Institute of TechnologyPasadenaUSA

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