论文标题
表征非交通性几何步态分析中的误差
Characterizing Error in Noncommutative Geometric Gait Analysis
论文作者
论文摘要
机器人运动中的一个关键问题是找到最佳的形状变化以有效地使系统通过世界。步态优化的变异技术需要对每个步态周期的身体位移估计；但是，这些估计值由于不包含的高阶项引起的错误。在本文中，我们制定了位移的现有估计值，并描述了低阶术语对这些估计的贡献。我们还描述了较高（第三）阶效应的大小，并确定身体坐标，步态直径和开始阶段的选择影响这些效果。我们证明，此类参数在两个示例系统（差速器驾驶汽车和Purcell游泳者）上的变化有效地管理了三阶贡献。
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 estimates of body displacement per gait cycle; however, these estimates introduce error due to unincluded high order terms. In this paper, we formulate existing estimates for displacement, and describe the contribution of low order terms to these estimates. We additionally describe the magnitude of higher (third) order effects, and identify that choice of body coordinate, gait diameter, and starting phase influence these effects. We demonstrate that variation of such parameters on two example systems (the differential drive car and Purcell swimmer) effectively manages third order contributions.
