|
|
Foundations of Robotics Seminar, September 8, 2010
Time
and Place | Seminar Abstract
Connection Vector Fields and Optimized Coordinates for Swimming Systems at Low and High Reynolds Numbers
Ross Hatton
Robotics Institute
CMU
NSH 1507
Talk 4:00 pm
Several efforts have recently been made to relate the displacement of swimming three-link systems over strokes to geometric quantities of the strokes. While this approach has been successful for finding net rotations, noncommutativity concerns have prevented it from working for net translations. Our recent results on other locomoting systems have shown that the degree of this noncommutativity is dependent on the coordinates used to describe the problem, and that it can be greatly mitigated by an optimal choice of coordinates. Here, we extend the benefits of this optimal-coordinate approach to the analysis of swimming at the extremes of low and high Reynolds numbers.
The Robotics Institute is part of the School of Computer Science, Carnegie Mellon University.