The Robotics Institute
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Foundations of Robotics Seminar, February 11
Time and Place | Seminar Abstract | Speaker Biography | Presentation Slides | Speaker Appointments

Locomotion of robotic systems

Elie Shammas

Time and Place
3305 Newell-Simon Hall
Refreshments 4:15 pm
Talk 4:30 pm


Locomotion of robotic systems is an expanding research field which is still under development. Researchers have strived to understand the underlying structure of locomotion and develop the appropriate mathematical concepts required to describe the dynamics and kinematics of locomotion. We will present a number of tutorial talks to introduce this research area. The talks will be augmented with examples that will provide the physical intuition behind the underlying mathematical concepts.

We will start the first talk by introducing most of the technical terms and concepts that will be used in the series of these talks. In particular we will introduce terms like: Lie groups, Lie algebras, action, lifted action, the adjoint, and invariance. We will also include examples that will help make these terms easier to comprehend.

Presentation Slides
Ppt (5.4Mb)

Speaker Appointments
For appointments, please contact Elie Shammas (

The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.