Kinematic Cartography for Locomotion at Low Reynolds Numbers
Kinematic Cartography for Locomotion at Low Reynolds Numbers
复制标题
低雷诺数运动的运动制图
DOI：
10.15607/rss.2011.vii.017
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发表时间：
2011
期刊：
影响因子：
--
通讯作者：
H. Choset
中科院分区：
文献类型：
--
作者：
R. Hatton;H. Choset
运动学运动规划通常需要配置之间的“距离”概念。参数空间上的欧几里得距离很容易计算，但可能会极大地扭曲改变构型所需的努力。在这里，我们基于制图界采用的原则，提出了表征这种扭曲的框架，以及一种转换构型坐标以更好地表示驱动成本的方法。作为该方法的演示，我们为一类重要的运动系统推导了一个真正的配置距离度量：低雷诺数游泳者。将我们的地图坐标变换应用于这些系统，既提供了对先前数值结果的直觉，又允许在具有异质形态的系统之间进行直接的几何比较。
Kinematic motion planning often requires a notion of “distance” between configurations. Euclidean distances on a parameter space are easy to compute, but can drastically distort the effort required to change configuration. Here, we present a framework for characterizing this distortion, based on principles adopted from the cartographic community, and a method for transforming configuration coordinates to better represent actuation costs. As a demonstration of this approach, we derive a true configuration distance metric for an important class of locomoting systems: low Reynolds number swimmers. Applying our cartographic coordinate transformation to these systems both provides intuition for previous numerical results, and allows direct geometric comparison between systems with heterogeneous morphology.