Characterizing Error in Noncommutative Geometric Gait Analysis
Capprin Bass,Suresh Ramasamy,Ross L. Hatton,Capprin Bass,Suresh Ramasamy,Ross L. Hatton
A key problem in robotic locomotion is in finding optimal shape changes to effectively displace systems through the world. Variational techniques for gait optimization require estimates of body displacement per gait cycle; however, these estimates introduce error due to unincluded high order terms. In this paper, we formulate existing estimates for displacement, and describe the contribution of lo...
