Basic Information
In The Course a Number of Papers Relating to Robot Locomotion Will Be Discussed. These Papers Incorporate Ideas From Mechanics, Differential Geometry, Non-linear Control, and Geometric Mechanics. This Will Serve As an Introduction to The Mathematics of What It Means to Move Through The World, and Some of The Mathematical Tools Needed to Express and Plan Movement. Our Discussion Will Focus Primarily On Geometric Mechanics and Their Potential to Unify Different Modes of Locomotion. Introduction# Short Math Background# Groups and Quotients, and The Lie Groups Se(2) and Se(3), Manifolds and Diffeomorphisms, Introduction To Geometric Mechanics# Symmetry, Conservation, and Symmetry Reduction. Main Readings# The Geometric Mechanics of Swimming and Slithering, Models of Legged Locomotion, Additional Advanced Topics From The Current Primary Literature Following The Interests of The Participants. Learning Outcomes# at The End of The Course The Students Will Be Able To# 1. Explain The Geometric Concept in Describing Motion, For Systems With and Without Symmetries. 2. Analyze The Disadvantages and Advantages of Using This Concept In Describing The Movement of Robots and Their Control._ 3. Solve Problems By Using The Mathematical Background Learned in The Course# Groups and Quotients, and The Lie Groups Se(2) and Se(3), Manifolds and Diffeomorphisms. 4. Build Geometric Models For Robot Movement and Control. 5. Analyze Articles Critically and Present The Main Point and Their Limitations.
Faculty: Mechanical Engineering
|Graduate Studies
Pre-required courses
(34010 - Dynamics and 34032 - Linear Systems M and 34040 - Introduction to Control)
Course with no extra credit
36067 - Advanced Topics in Mechanical Engineering 6