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- W4300551712 abstract "In this paper, we present a geometric variational algorithm for optimizing the gaits of kinematic locomoting systems. The dynamics of this algorithm are analogous to the physics of a soap bubble, with the system's Lie bracket supplying an inflation pressure that is balanced by a surface tension term derived from a Riemannian metric on the system's shape space. We demonstrate this optimizer on a variety of system geometries (including Purcell's swimmer) and for optimization criteria that include maximizing displacement and efficiency of motion for both translation and turning motions." @default.
- W4300551712 created "2022-10-03" @default.
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- W4300551712 date "2016-09-08" @default.
- W4300551712 modified "2023-10-15" @default.
- W4300551712 title "Soap-bubble Optimization of Gaits" @default.
- W4300551712 doi "https://doi.org/10.48550/arxiv.1609.02620" @default.
- W4300551712 hasPublicationYear "2016" @default.
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