Geometric Motion Planning for Systems With Toroidal and Cylindrical Shape Spaces
Geometric Motion Planning for Systems With Toroidal and Cylindrical Shape Spaces
复制标题
具有环形和圆柱形形状空间的系统的几何运动规划
DOI：
10.1115/dscc2018-9144
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发表时间：
2018
期刊：
影响因子：
--
通讯作者：
H. Choset
中科院分区：
文献类型：
--
作者：
Chaohui Gong;Z. Ren;Julian Whitman;J. Grover;Baxi Chong;H. Choset
使用几何力学的运动学运动规划倾向于在形状空间的参数化中规定轨迹并确定其在位置空间中的位移。通常，这种轨迹被称为步态。以前的工作假设形状空间是欧几里得的，而实际上通常不是，这是因为机器人关节可以永远旋转（即，有一个？1配置空间组件，或其参数化具有？1维）。考虑一个环面形状空间;“环绕”形状变量的整个范围并返回其起始配置的步态在形状空间中是有效步态，但在参数化中显示为线段。由于这样的步态在参数化中不形成闭环，现有的几何力学方法不能适当地考虑它们。通过明确分析的基础形状空间的拓扑结构，我们得到几何工具来考虑系统的环形和圆柱形的形状空间。
Kinematic motion planning using geometric mechanics tends to prescribe a trajectory in a parameterization of a shape space and determine its displacement in a position space. Often this trajectory is called a gait. Previous works assumed that the shape space is Euclidean when often it is not, either because the robotic joints can spin around forever (i.e., has an ?1 configuration space component, or its parameterization has an ?1 dimension). Consider a shape space that is a torus; gaits that “wrap” around the full range of a shape variable and return to its starting configuration are valid gaits in the shape space yet appear as line segments in the parameterization. Since such a gait does not form a closed loop in the parameterization, existing geometric mechanics methods cannot properly consider them. By explicitly analyzing the topology of the underlying shape space, we derive geometric tools to consider systems with toroidal and cylindrical shape spaces.
六足动物运动的推进：沙漠蚂蚁如何穿越斜坡？
影响因子：
2.8
作者：
Wöhrl;Reinhardt;Blickhan;Reinhard
通讯作者：
Reinhard