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Variations on the Role of Principal Connections in Robotic Locomotion

[+] Author Affiliations
Tony Dear, Howie Choset

Carnegie Mellon University, Pittsburgh, PA

Scott David Kelly

University of North Carolina at Charlotte, Charlotte, NC

Paper No. DSCC2016-9912, pp. V002T24A012; 10 pages
  • ASME 2016 Dynamic Systems and Control Conference
  • Volume 2: Mechatronics; Mechatronics and Controls in Advanced Manufacturing; Modeling and Control of Automotive Systems and Combustion Engines; Modeling and Validation; Motion and Vibration Control Applications; Multi-Agent and Networked Systems; Path Planning and Motion Control; Robot Manipulators; Sensors and Actuators; Tracking Control Systems; Uncertain Systems and Robustness; Unmanned, Ground and Surface Robotics; Vehicle Dynamic Controls; Vehicle Dynamics and Traffic Control
  • Minneapolis, Minnesota, USA, October 12–14, 2016
  • Conference Sponsors: Dynamic Systems and Control Division
  • ISBN: 978-0-7918-5070-1
  • Copyright © 2016 by ASME


Diverse problems in robotic locomotion have previously been modeled in terms of connections on principal bundles. Ordinarily, one identifies points in the base manifold of such a bundle with different internal configurations of a robot, identifies points in the fiber over a given base point with different positions and orientations of the robot in its environment, and assumes control to be applied in the former but not the latter. We examine ways in which the ordinary application of this theory may be adapted to problems in aquatic and terrestrial locomotion that fail to accommodate the preceding description.

Copyright © 2016 by ASME
Topics: Robotics



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