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Filtering by: Alternative title ssim Circular of information no. 689 Remove constraint Alternative title ssim: Circular of information no. 689 Contributor Hatton, Ross L. Remove constraint Contributor: Hatton, Ross L.

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  • Geometry of Locomotion

    Creator:
    Ramasamy, Suresh
    Abstract:
    Many animals and robots move through the world by coupling cyclical changes in shape called gaits to an interaction with the environment. Because mobility is an important aspect of such robots, a key metric when evaluating design and performance of mobile robots is the efficiency of their optimal gaits. The...
    Resource Type:
    Dissertation
    Full Text:
    in the tangential direction e‖ produces no change in area, as the area of the triangle given by half

  • Geometric Optimization Methods for Mobile Systems

    Creator:
    Bass, Capprin J.
    Abstract:
    When studying robot systems, it is common to ask about optimal approaches to accomplish a given task. In the context of mobile systems, particularly biomimetic systems, optimization tasks are closely related to the relevant dynamics of locomotion. In this thesis, building on prior work from the geometric mechanics community, we...
    Resource Type:
    Masters Thesis
    Full Text:
    circular gait of diameter ℓ and starting phase Φ is discretized into four segments a, b, c, d. We first

  • Orb Web Vibrations: Modeling, Localization, and Measurement

    Creator:
    Otto, Andrew W.
    Abstract:
    The orb web is a multipurpose structure---serving as a home for its inhabitant spider, as a prey capture device, and as a physical extension of the spider’s sensing abilities. Biologists are particularly interested in the spider’s ability to locate prey trapped in its web by sensing the vibrations induced from...
    Resource Type:
    Dissertation
    Full Text:
    advance of a predator. What information is available to orb weaving spiders from web vibrations, and how