Geometric control of robotic locomotion systems

Sonia Martínez and Jorge Cortés
Proceedings of the X Fall Workshop on Geometry and Physics, Miraflores de la Sierra, Spain, 2001, Publications of the Royal Spanish Mathematical Society, 4 (2003) 183-198

Abstract:

A wide class of robotic locomotion systems share a rich unifying geometric framework where notions such as cyclic rectification, coupling and motions induced by the interaction with the environment have a proper mathematical formulation. In this paper, we show how the modeling of robotic systems based on Lagrangian reduction techniques enables us to approach the optimal control problem in a way where locomotion concepts are naturally introduced. We propose an algorithm to numerically solve this optimal control problem and explore its convergence properties. Finally, several simulations and comparisons with experimental motions are shown for the robotic eel mechanism REEL II.

File: main.pdf

Bib-tex entry:

@InProceedings{SM-JC:03,
author = {S. Mart{\'\i}nez and J. Cort\'es},
booktitle = {X Fall Workshop on Geometry and Physics},
title = {Geometric control of robotic locomotion systems},
year = {2003},
address = {Miraflores de la Sierra, Spain},
pages = {183--198}
}