Robotics: Science and Systems VII
Kinematic Cartography for Locomotion at Low Reynolds Numbers
Ross Hatton, Howie ChosetAbstract:
Kinematic motion planning often requires a notion of distance between configurations. Euclidean distances on a parameter space are easy to compute, but can drastically distort the effort required to change configuration. Here, we present a framework for characterizing this distortion, based on principles adopted from the cartographic community, and a method for transforming configuration coordinates to better represent actuation costs. As a demonstration of this approach, we derive a true configuration distance metric for an important class of locomoting systems: low Reynolds number swimmers. Applying our cartographic coordinate transformation to these systems both provides intuition for previous numerical results, and allows direct geometric comparison between systems with heterogeneous morphology.
Bibtex:
@INPROCEEDINGS{Hatton-RSS-11, AUTHOR = {Ross Hatton AND Howie Choset}, TITLE = {Kinematic Cartography for Locomotion at Low Reynolds Numbers}, BOOKTITLE = {Proceedings of Robotics: Science and Systems}, YEAR = {2011}, ADDRESS = {Los Angeles, CA, USA}, MONTH = {June}, DOI = {10.15607/RSS.2011.VII.017} }