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Author Ostrowski, Jim ♦ Burdick, Joel
Source CiteSeerX
Content type Text
Publisher Springer Verlag
File Format PDF
Language English
Subject Domain (in DDC) Computer science, information & general works ♦ Data processing & computer science
Subject Keyword Mobile Robot ♦ Important Capability ♦ Principal Fiber Bundle ♦ Wheeled Vehicle ♦ Internal Shape Change ♦ Undulatory Locomotion ♦ Nonholonomic Constraint ♦ Kinematic Nonholonomic System ♦ Locomotion System ♦ Locomotion Problem ♦ Novel Snakeboard ♦ Motivation Large Body ♦ Robotic Locomotion ♦ Basic Problem ♦ Autonomous System ♦ Multi-segmented Serpentine Robot ♦ Geometric Method ♦ Nonholonomic Kinematic Constraint
Description : 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. 1 Introduction and Motivation A large body of research has developed in the area of robotic locomotion, since mobility is an important capability for autonomous systems. Most mobile robots are wheeled vehicles, since wheels provide the simplest means for mobility. The assumption that these wheels do not slip provides nonholonomic kinematic constraints on a vehicle's motion, and these kinematic nonholonomic system...
In Proc. International Symposium on Robotics Research
Educational Role Student ♦ Teacher
Age Range above 22 year
Educational Use Research
Education Level UG and PG ♦ Career/Technical Study
Learning Resource Type Article
Publisher Date 1995-01-01