Pontryagin calculus in Riemannian geometry - Danielle Fortune, Francois Dubois, Juan Antonio Rojas Quintero
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last edited by Geo-Sci-InfoAuthor: Danielle Fortune, Francois Dubois, Juan Antonio Rojas Quintero
DOI URL: http://dx.doi.org/10.1007/978-3-319-25040-3_58
Video: http://www.youtube.com/watch?v=uiOKLhoh3IA
Slides: Dubois Pontryagin calculus Riemannian.pdf
Presentation: https://www.see.asso.fr/node/14340
Creative Commons Attribution-ShareAlike 4.0 InternationalAbstract:
In this contribution, we study systems with a finite number of degrees of freedom as in robotics. A key idea is to consider the mass tensor associated to the kinetic energy as a metric in a Riemannian configuration space. We apply Pontryagin’s framework to derive an optimal evolution of the control forces and torques applied to the mechanical system. This equation under covariant form uses explicitly the Riemann curvature tensor.
