Event Detail

Event Type: 
M.Sc. Presentation
Date/Time: 
Monday, June 10, 2019 - 15:00 to 16:00
Location: 
Kidder 238

Speaker Info

Abstract: 

Animals and birds that locomote across diverse terrains employ strategies that share certain qualitative properties. These properties have inspired research aimed at uncovering common structure in the equations of motion that govern these systems. In this talk, I will present an overview of such research, starting with the Euler-Lagrange equations, followed by an explanation of how tools from differential geometry were used to obtain a universal framework that describes the motion of a large class of locomoting systems. The utility of this framework lies in the fact that any design or control algorithm developed based on this framework will be applicable across a large class of systems.