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cs.RO2022
Optimal Gait Families using Lagrange Multiplier Method
Jinwoo Choi, Capprin Bass, Ross L. Hatton
The robotic locomotion community is interested in optimal gaits for control. Based on the optimization criterion, however, there could be a number of possible optimal gaits. For ex…
cs.RO2022
Characterizing Error in Noncommutative Geometric Gait Analysis
Capprin Bass, Suresh Ramasamy, Ross Hatton
A key problem in robotic locomotion is in finding optimal shape changes to effectively displace systems through the world. Variational techniques for gait optimization require esti…