The Robotics Institute
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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

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

Abstract

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.

Presentation Slides
Ppt (5.4Mb)

 
Speaker Appointments
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.