Reduced Equations of Motion for Unconstrained systems

Elie Shammas

Abstract

In the previous talks we introduced basic definitions and tools for reduction of mechanical systems, that is, simplification of the equations of motion. This talk will show how to use the invariance of the Lagrangian to derive the reduced equations of motion for unconstrained mechanical systems at the group identity. We will use a two-link snake robot to illustrate the above methods.

 

Speaker Appointments

For appointments, please contact Elie Shammas (eshammas@andrew.cmu.edu).