https://murray.cds.caltech.edu/index.php?action=history&feed=atom&title=Geometric_Phases_and_Robotic_Locomotion 2026-09-08T21:01:08Z Revision history for this page on the wiki MediaWiki 1.44.2 https://murray.cds.caltech.edu/index.php?title=Geometric_Phases_and_Robotic_Locomotion&diff=20057&oldid=prev 2016-05-15T06:20:46Z

<p>htdb2wiki: creating page for 1994h_km94-cds.html</p> <p><b>New page</b></p><div>{{HTDB paper<br /> | authors = Scott D. Kelly and Richard M. Murray <br /> | title = Geometric Phases and Robotic Locomotion<br /> | source = &lt;i&gt;J. Robotic Systems&lt;/i&gt;, 12(6):417-431<br /> | year = 1995<br /> | type = CDS<br /> Technical Report<br /> | funding = <br /> | url = http://www.cds.caltech.edu/~murray/preprints/cds94-014.pdf<br /> | abstract = Robotic locomotion is based in a variety of instances upon cyclic changes in the shape<br /> of a robot mechanism. Certain variations in shape exploit the constrained nature of a<br /> robot&#039;s interaction with its environment to generate net motion. This is true for legged<br /> robots, snakelike robots, and wheeled mobile robots undertaking maneuvers such as parallel<br /> parking. In this paper we explore the use of tools from differential geometry to model and<br /> analyze this class of locomotion mechanisms in a unified way. In particular, we describe<br /> locomotion in terms of the geometric phase associated with a connection on a principal<br /> bundle, and address issues such as controllability and choice of gait. We also provide an<br /> introduction to the basic mathematical concepts which we require and apply the theory to<br /> numerous example systems. <br /> | flags = <br /> | tag = km94-cds<br /> | id = 1994h<br /> }}</div>

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