Optimizing coordinate choice for locomotion systems with toroidal shape spaces
Bo Lin,Baxi Chong,Yasemin Ozkan-Aydin,Enes Aydin,Howie Choset,Daniel I. Goldman,Greg Blekherman,Bo Lin,Baxi Chong,Yasemin Ozkan-Aydin,Enes Aydin,Howie Choset,Daniel I. Goldman,Greg Blekherman
In a geometric mechanics framework, the configuration space is decomposed into a shape space and a position space. The internal motion of the system is prescribed by a closed loop in the shape space, which causes net motion in the position space. If the shape space is a simply connected domain in an Euclidean space, then with an optimal choice of the body frame, the displacement in the position sp...
