What is efficiency in locomotion?
- Series
- Geometry Topology Seminar
- Time
- Monday, November 4, 2024 - 14:00 for 1 hour (actually 50 minutes)
- Location
- Skiles 006
- Speaker
- Dan Irvine – Kennesaw State University
Geometric mechanics is a tool for mathematically modeling the locomotion of animals or robots. In this talk I will focus on modeling the locomotion of a very simple robot. This modeling involves constructing a principal SE(2)-bundle with a connection. Within this bundle, the base space is parametrized by variables that are under the control of the robot (the so-called control variables). A loop in the base space gives rise to some holonomy in the fiber, which is an element of the group SE(2). We interpret this holonomy as the locomotion that is realized when the robot executes the path in the base space (control) variables.
Now, we can put a metric on the base space and ask the following natural question: What is the shortest path in the base space that gives rise to a fixed amount of locomotion? This is an extension of the isoperimetric problem to a principal bundle with a connection.
In this talk I will describe how to compute holonomy of the simple robot model, described above. Then I will solve the isoperimetric problem to find the shortest path with a fixed holonomy.
No prior knowledge of geometric mechanics will be assumed for this talk.