/Coordinates Matter: Virtual Chassis and Minimum Perturbation Coordinate Representations

Coordinates Matter: Virtual Chassis and Minimum Perturbation Coordinate Representations

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

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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.

BibTeX Reference
@conference{Rollinson-2012-7549,
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)},
year = {2012},
month = {July},
}
2017-09-13T10:39:45+00:00