Soap-bubble Optimization of Gaits
Suresh Ramasamy, Ross L. Hatton
TL;DR
This paper introduces a geometric variational algorithm inspired by soap bubble physics to optimize the gaits of kinematic systems, improving motion efficiency and displacement across various geometries.
Contribution
It presents a novel soap-bubble inspired optimization method for gait design in kinematic locomoting systems, incorporating Lie brackets and Riemannian metrics.
Findings
Effective optimization of gaits for Purcell's swimmer.
Maximized displacement and efficiency in motion.
Applicable to diverse system geometries.
Abstract
In this paper, we present a geometric variational algorithm for optimizing the gaits of kinematic locomoting systems. The dynamics of this algorithm are analogous to the physics of a soap bubble, with the system's Lie bracket supplying an "inflation pressure" that is balanced by a "surface tension" term derived from a Riemannian metric on the system's shape space. We demonstrate this optimizer on a variety of system geometries (including Purcell's swimmer) and for optimization criteria that include maximizing displacement and efficiency of motion for both translation and turning motions.
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