Approximating displacement with the body velocity integral

R. L. Hatton, H. Choset
2009 Robotics: Science and Systems V  
In this paper, we present a technique for approximating the net displacement of a locomoting system over a gait without directly integrating its equations of motion. The approximation is based on a volume integral, which, among other benefits, is more open to optimization by algorithm or inspection than is the full displacement integral. Specifically, we develop the concept of a body velocity integral (BVI), which is computable over a gait as a volume integral via Stokes's theorem. We then
more » ... eorem. We then demonstrate that, given an appropriate choice of coordinates, the BVI for a gait approximates the displacement of the system over that gait. This consideration of coordinate choice is a new approach to locomotion problems, and provides significantly improved results over past attempts to apply Stokes's theorem to gait analysis.
doi:10.15607/rss.2009.v.006 dblp:conf/rss/HattonC09 fatcat:ecuzhdbearez5eljr74igev6ya