Graduate Thesis Or Dissertation
 

Geometric Optimization Methods for Mobile Systems

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https://ir.library.oregonstate.edu/concern/graduate_thesis_or_dissertations/ks65hn000

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  • 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 introduce several methods for optimization in the context of mobile systems. Each topic is covered in a separate manuscript: in the first manuscript, we investigate how error accrues when using second order displacement approximations for planar mobile systems, and how coordinate optimization reduces error by accounting for higher order error effects. In the second manuscript, we extend planar coordinate optimization to the group of 3D rotations, clarifying methods presented in prior work. Contributions introduced here further reduce error inherent to displacement approximations. In the third and final manuscript, we use recent robot gait optimization methods to perform dimensionality reduction on robot shape spaces, respecting useful dynamics. The resulting 2D shape spaces have useful topological and geometric properties, and could act as a building block for more general robot dimensionality reduction. Finally, the conclusion summarizes the shared themes of the included papers, and discusses in general the potential of geometric mechanics in future robotics work.
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