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Foundations of Robotics
Seminar, March 18, 2009
Time
and Place | Seminar Abstract
Visualizing Locomotion through the Local Connection
Ross L. Hatton
Carnegie Mellon University - Robotics Institute
NSH 1507
Talk 4:30 pm
Locomoting systems can be usefully described as having configurations that are combinations of shape and position. In many cases, this separation can be used to abstract the motion planning problem into the question "How should I change my shape to move from one position to another?" In this talk, I will present sevral graphical tools for understanding the reelationship between shape and position change, based on the geometric mechanics concept of the local connection. I will also discuss the impact of appropriate coordinate choice on the insight provided by these tools.
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.