Optimizing coordinate choice for locomoting systems

Proceedings - IEEE International Conference on Robotics and Automation

Volumn , Issue , 2010, Pages 4493-4498

  Hatton, Ross L ^a   Choset, Howie ^a  

^a NONE

Author keywords

[No Author keywords available]

Indexed keywords

EVALUATION TECHNIQUES; GENERALIZED COORDINATES; HELMHOLTZ DECOMPOSITION; OPTIMAL COORDINATE; SYSTEM CONSTRAINTS;

EQUATIONS OF MOTION; OPTIMIZATION;

ROBOTICS;

EID: 77955830976     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2010.5509876     Document Type: Conference Paper

References (20)

1. R. L. Hatton and H. Choset, "Approximating Displacement with the Body Velocity Integral," in Proceedings of Robotics: Science and Systems, Seattle, USA, June 2009.
2. A. Shapere and F. Wilczek, "Geometry of Self-Propulsion at Low Reynolds Number," Geometric Phases in Physics, Jan 1989.
3. R. Murray and S. Sastry, "Nonholonomic Motion Planning: Steering Using Sinusoids," IEEE Transactions on Automatic Control, Jan 1993. [Online]. Available: http://eavr.u-strasbg.fr/~bernard/education/ensps-3a/tmp/ murray.pdf
4. S. Kelly and R. M. Murray, "Geometric Phases and Robotic Locomotion," J. Robotic Systems, Jan 1995. [Online]. Available: ftp://avalon.caltech.edu/pub/murray/preprints/cds/cds94-014.ps.gz
5. A. M. Bloch et al., Nonholonomic Mechanics and Control. Springer, 2003.
6. J. Ostrowski and J. Burdick, "The Mechanics and Control of Undulatory Locomotion," International Journal of Robotics Research, vol. 17, no. 7, pp. 683-701, July 1998.
7. E. A. Shammas, H. Choset, and A. A. Rizzi, "Geometric Motion Planning Analysis for Two Classes of Underactuated Mechanical Systems," The International Journal of Robotics Research, vol. 26, no. 10, pp. 1043-1073, 2007. [Online]. Available: http://ijr.sagepub.com/cgi/content/abstract/26/10/ 1043
8. J. Ostrowski, J. Desai, and V. Kumar, "Optimal Gait Selection for Non-holonomic Locomotion Systems," International Journal of Robotics Research, 2000.
9. F. Bullo and K. M. Lynch, "Kinematic Controllability for Decoupled Trajectory Planning in Underactuated Mechanical Systems," IEEE Transactions on Robotics and Automation, vol. 17, no. 4, pp. 402-412, August 2001.
10. K. McIsaac and J. P. Ostrowski, "Motion Planning for Anguilliform Locomotion," Robotics and Automation, Jan 2003. [Online]. Available: http://ieeexplore.ieee.org/xpls/abs all.jsp?arnumber=1220714
11. K. Morgansen, B. Triplett, and D. Klein, "Geometric Methods for Modeling and Control of Free-Swimming Fin-Actuated Underwater Vehicles," Robotics, Jan 2007. [Online]. Available: http://ieeexplore.ieee.org/xpls/abs all.jsp?arnumber=4399955
12. R. L. Hatton and H. Choset, "Connection Vector Fields for Underactuated Systems," IEEE BioRob, October 2008.
13. R. Mukherjee and D. Anderson, "Nonholonomic Motion Planning Using Stokes' Theorem," in IEEE International Conference on Robotics and Automation, 1993.
14. G. Walsh and S. Sastry, "On Reorienting Linked Rigid Bodies Using Internal Motions," Robotics and Automation, IEEE Transactions on, vol. 11, no. 1, pp. 139-146, January 1995.
15. E. Shammas, K. Schmidt, and H. Choset, "Natural Gait Generation Techniques for Multi-bodied Isolated Mechanical Systems," in IEEE International Conference on Robotics and Automation, 2005.
16. J. B. Melli, C. W. Rowley, and D. S. Rufat, "Motion Planning for an Articulated Body in a Perfect Planar Fluid," SIAM Journal of Applied Dynamical Systems, vol. 5, no. 4, pp. 650-669, November 2006.
17. J. Avron and O. Raz, "A Geometric Theory of Swimming: Purcell's Swimmer and its Symmetrized Cousin," New Journal of Physics, 2008.
18. G. B. Arfken, Mathematical Methods for Physicists, 6th ed. Elsevier, 2005.
19. J. Ostrowski, "Reduced Equations for Nonholonomic Mechanical Systems with Dissipation," Journal of Mathematical Physics, 1998.
20. Q. Guo, M. K. Mandal, and M. Y. Li, "Efficient Hodge-Helmholtz Decomposition of Motion Fields," Pattern Recognition Letters, vol. 26, no. 4, pp. 493-501, 2005.