Geometry of Locomotion

Catalog description

Geometry of Locomotion is a graduate level course (although senior undergraduates with a strong math background can take this course) that investigates the geometric fundamentals behind locomotive systems. Through this course, students learn the kinematics, statics and dynamics of robotic locomotion. Specifically, this course will focus on underlying ideas from geometric mechanics, group theory, and differential geometry. We will also read some of the key literature as it pertains to these geometric methods and how they apply to both robotic and biological locomotion. If time permits, we will also cover modern techniques in machine learning, and how it relates to geometric methods that model locomotion.