Coordinates Matter: Virtual Chassis and Minimum Perturbation Coordinate Representations

David Rollinson, Ross Hatton, and Howie Choset
Proceedings of the International Conference on Climbing and Walking Robots (CLAWAR), July, 2012.


Abstract
Although any set of generalized coordinates can be used to represent the motion of a system, the choice of coordinates can greatly effect the ease of its analysis. Notably, the choice of body frame can affect a system’s representational clarity as well as the computational accuracy of any linear approximations. In this paper we examine how departing from the typical convention of rigidly fixing a body frame to a system and instead carefully choosing the body frame can provide these benefits to a number of articulated locomoting systems, namely modular snake robots and planar swimming systems.

Notes

Text Reference
David Rollinson, Ross Hatton, and Howie Choset, "Coordinates Matter: Virtual Chassis and Minimum Perturbation Coordinate Representations," Proceedings of the International Conference on Climbing and Walking Robots (CLAWAR), July, 2012.

BibTeX Reference
@inproceedings{Rollinson_2012_7384,
   author = "David Rollinson and Ross Hatton and Howie Choset",
   title = "Coordinates Matter: Virtual Chassis and Minimum Perturbation Coordinate Representations",
   booktitle = "Proceedings of the International Conference on Climbing and Walking Robots (CLAWAR)",
   month = "July",
   year = "2012",
}