A Method to Investigate General Optimal Maneuvers for Kinematically Reducible Robotic Locomotion Systems

• Published in: Journal of intelligent & robotic systems Vol. 84; no. 1-4; pp. 799 - 813
• Main Author: Asnafi, A.
• Format: Journal Article
• Language: English
• Published: Dordrecht Springer Netherlands 01.12.2016; Springer Nature B.V
• Subjects: Artificial Intelligence; Control; Dynamical systems; Electrical Engineering; Engineering; Locomotion; Maneuverability; Mathematical analysis; Mathematical models; Mechanical Engineering; Mechatronics; Rigid-body dynamics; Robotics; Robots; Under actuated systems; Robot maneuverability; Robotic locomotion system; Biomimetic robots; Geometric mechanics; Fiber bundle structure

One of the performance indices for either a biological or a biomimetic locomotion system is the degree of its maneuverability i.e. the most rigid body velocity changing due to finite shape variable rates. The main subject of this article is to compute general rules for this index using geometric too...