Generic dynamic motion generation with multiple unilateral constraints

Abstract

A mobile system's maneuverability describes the scale and span of the velocities with which it can move. In this paper, we present a new geometric framework for describing the maneuverability of kinematic locomoting systems, inspired by the manipulability analysis of robotic arms. This framework describes both the local maneuverability in the neighborhood of each shape the system can assume and the cyclic maneuverability achieved by executing gaits from a library. Additionally, the gait-level analysis includes tools that direct the search for gaits whose inclusion into the library will usefully improve the maneuverability. Throughout, we provide examples based on a swimming system operating at low Reynolds number.