16-742 Geometry of Locomotion
Fall 2015

Time: MW, 10:30 - 11:50
Location: NSH 3002

Instructor: Howie Choset






This course introduces geometric methods for the analysis of locomoting systems. Focusing on the kinematics of locomoting systems, the course covers topics from differential geometry, geometric mechanics, and motion planning. Specific topics include configuration spaces, manifolds, groups, Lie groups, representations of velocity, holonomic and nonholonomic constraints, constraint curvature, response to cyclic inputs and distance metrics. The primary goal of this class is to develop an intuitive understanding of these concepts and how they are used in locomoting systems, rather than working through a set of formal proofs and derivations. We do, however, incorporate enough mathematical formalism for this class to serve as a starting point for further investigation into this topic area. We also call upon biological data, when available, and relate to the mathematical formalisms in the class. 

For updates to the webpage, please contact Tony Dear.


Recent Announcements

  • Last week(s) of class Our schedule for the remainder of the semester will be as follows. Firstly, we will not hold class during the week of Thanksgiving. We of course encourage you to take ...
    Posted Nov 20, 2015, 2:35 PM by Tony Dear
  • Class on 11/18 Due to an external event, we will start class at 11am on Wednesday, 11/18. There should still be enough time for the Melli paper presentation.
    Posted Nov 17, 2015, 8:19 AM by Tony Dear
  • Week of Nov 9 Next week we will be doing short (~5 minutes) presentations of your proposed projects. The goal of this will be to get a better sense of what everyone is doing ...
    Posted Nov 4, 2015, 9:56 AM by Tony Dear
  • Paper and Project Update Please plan to read the "Nonconservativity and Noncommutativity in Locomotion" for Wednesday's class. It is somewhat long, but most of the first half is mathematical background and review at ...
    Posted Oct 26, 2015, 10:34 AM by Tony Dear
  • Project Sign-up Link Project sign-ups can be done via the google spreadsheet here:https://docs.google.com/spreadsheets/d/1OAYbawhrsoJ2s-Gg-YwnSuN4pjbNQo3jFLR7jNUwGj4/edit?usp=sharingPlease sign up with your team members ...
    Posted Oct 26, 2015, 10:35 AM by Tony Dear
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