IEEE - Institute of Electrical and Electronics Engineers, Inc. - Soap-bubble optimization of gaits

2016 IEEE 55th Conference on Decision and Control (CDC)

Author(s): Suresh Ramasamy ; Ross L. Hatton
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 December 2016
Conference Location: Las Vegas, NV, USA
Conference Date: 12 December 2016
Page(s): 1,056 - 1,062
ISBN (Electronic): 978-1-5090-1837-6
ISBN (DVD): 978-1-5090-1844-4
DOI: 10.1109/CDC.2016.7798407
Regular:

In this paper, we present a geometric variational algorithm for optimizing the gaits of kinematic locomoting systems. The dynamics of this algorithm are analogous to the physics of a soap bubble,... View More

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