Geometric motion planning: The local connection, Stokes' theorem, and the importance of coordinate choice
The locomotion of articulated mechanical systems is often complex and unintuitive, even
when considered with the aid of reduction principles from geometric mechanics. In this …
when considered with the aid of reduction principles from geometric mechanics. In this …
Geometric motion planning analysis for two classes of underactuated mechanical systems
EA Shammas, H Choset… - The International Journal …, 2007 - journals.sagepub.com
In this paper we generate gaits for two types of underactuated mechanical systems:
principally kinematic and purely mechanical systems. Our goal is to specify inputs in the form …
principally kinematic and purely mechanical systems. Our goal is to specify inputs in the form …
Connection vector fields for underactuated systems
In this paper, we build off results from geometric mechanics to gain fresh insight into the
locomotion of underactuated systems. More specifically, we use the connection, which …
locomotion of underactuated systems. More specifically, we use the connection, which …
Optimizing coordinate choice for locomoting systems
Gait evaluation techniques that use Stokes's theorem to integrate a system's equations of
motion have traditionally been limited to finding only the net rotations or small translations …
motion have traditionally been limited to finding only the net rotations or small translations …
Reduced Euler-Lagrange equations of floating-base robots: Computation, properties, & applications
H Mishra, G Garofalo, AM Giordano… - IEEE Transactions …, 2022 - ieeexplore.ieee.org
At first glance, a floating-base robotic system is a kinematic chain, and its equations of
motion are described by the inertia-coupled dynamics of its shape and movable base …
motion are described by the inertia-coupled dynamics of its shape and movable base …
Approximating displacement with the body velocity integral.
In this paper, we present a technique for approximating the net displacement of a locomoting
system over a gait without directly integrating its equations of motion. The approximation is …
system over a gait without directly integrating its equations of motion. The approximation is …
Generalized motion planning for underactuated mechanical systems
EA Shammas - 2006 - search.proquest.com
For mechanical systems, it is straight forward to compute the dynamic equations of motion
which govern the evolution of the systems' configuration variables as the system is subjected …
which govern the evolution of the systems' configuration variables as the system is subjected …
Optimal reorientation of planar floating snake robots with collision avoidance
In this paper, a motion planning algorithm for floating planar under-actuated hyper-
redundant snake robots is proposed. The presented algorithm generates locally optimal …
redundant snake robots is proposed. The presented algorithm generates locally optimal …
Shape space planner for shape-accelerated balancing mobile robots
U Nagarajan, R Hollis - The International Journal of Robotics …, 2013 - journals.sagepub.com
This paper introduces shape-accelerated balancing systems as a special class of
underactuated systems wherein their shape configurations can be mapped to the …
underactuated systems wherein their shape configurations can be mapped to the …
Modeling and control of two-link snake
This article deals with using of geometric mechanics at modeling mixed mechanical
locomotion systems. In introductory part, the division of locomotion systems and reduced …
locomotion systems. In introductory part, the division of locomotion systems and reduced …