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Filtering by: Creator Paraguas, Ferdinand J. Remove constraint Creator: Paraguas, Ferdinand J. Advisor Hatton, Ross L. Remove constraint Advisor: Hatton, Ross L. Committee Member Grimm, Cindy M. Remove constraint Committee Member: Grimm, Cindy M.

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  • Geometric Motion Planning for Inertial Systems

    Creator:
    Faraji, Hossein
    Abstract:
    In order to enable better visualization and understanding of the effect of the robot's geometry and inertia on the robot's trajectories, this dissertation proposes to use geometric mechanics to bridge the gap between the physical motion of a robot and its mathematical structure. The main focus of this research is...
    Resource Type:
    Dissertation
    Full Text:
    found by decomposing the system’s metric tensor M into JTJ , where J is a Jacobian from the yaw-pitch