首页|Investigators from Federal University Rio de Janeiro Report New Data on Robotics (Optimal Control of Robotic Systems and Biased Riemannian Splines)
Investigators from Federal University Rio de Janeiro Report New Data on Robotics (Optimal Control of Robotic Systems and Biased Riemannian Splines)
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By a News Reporter-Staff News Editor at Robotics & Machine Learning Daily News Daily News-Investigators discuss new findings in Robotics. According to news reporting from Rio de Janeiro, Brazil, by NewsRx jou rnalists, research stated, "In this paper, we study mechanical optimal control p roblems on a given Riemannian manifold (Q, g) in which the cost is defined by a general cometric g. This investigation is motivated by our studies in robotics, in which we observed that the mathematically natural choice of cometric g = g* - the dual of g - does not always capture the true cost of the motion." Financial support for this research came from National Science Foundation The news correspondents obtained a quote from the research from Federal Universi ty Rio de Janeiro, "We then, first, discuss how to encode the system's torque-ba sed actuators configuration into a cometric g. Second, we provide and prove our main theorem, which characterizes the optimal solutions of the problem associate d to general triples (Q, g, g) in terms of a 4th order differential equation. We also identify a tensor appearing in this equation as the geometric source of ‘b iasing' of the solutions away from ordinary Riemannian splines and geodesics for (Q, g)."
Rio de JaneiroBrazilSouth AmericaE merging TechnologiesMachine LearningRoboticsRobotsFederal University Rio de Janeiro
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