Geometric Motion Planning for a System on the Cylindrical Surface
Shuoqi Chen,Ruijie Fu,Ross Hatton,Howie Choset,Shuoqi Chen,Ruijie Fu,Ross Hatton,Howie Choset
Traditional geometric mechanics models used in locomotion analysis rely heavily on systems having symmetry in SE(2) (i.e., the dynamics and constraints are invariant with respect to a system’s position and orientation) to simplify motion planning. As a result, the symmetry assumption prevents locomotion analysis on non-flat surfaces because the system dynamics may vary as a function of position an...
