Foundations of Robotics Seminar, February 25
Time
and Place | Seminar
Abstract | Speaker
Biography
| Presentation Slides | Speaker
Appointments
Tools for Reduction
Ravi Balasubramanian and Klaus Schmidt
3305 Newell-Simon
Hall
Refreshments 4:15 pm
Talk 4:30 pm
This talk is the second in a series dealing with the reduction of
mechanical systems.
We will introduce the principal connection as a tool for the reduction
(simplification) of mechanical systems. After the mathematical formulation
of the principal connection, explained with a comprehensive example, we
investigate a specific principal connection for mechanical systems. This
"mechanical connection" is defined based on the principle of momentum
conservation using concepts such as the "momentum map" and the "locked
inertia tensor". The mechanical connection provides a meaningful
decomposition of velocities, and we use the connection to reduce the
equations of motion of a two-mass system.
Work done with Elie Shammas.
Ppt (5.4Mb)
For appointments, please
contact Ravi Balasubramanian and Klaus Schmidt (eshammas@andrew.cmu.edu).
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.