The Robotics Institute
Carnegie Mellon Robotics Institute
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", } |
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