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handout4_Jacobian - Movie Segment Locomotion Gates with...

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1 Movie Segment Locomotion Gates with Polypod, Mark Yim, Stanford University, ICRA 1994 video proceedings Instantaneous Kinematics • Linear & Angular Motion • Velocity Propagation J a c o b i a n • Differential Motion • Explicit Form • Static Forces Differential Motion {0} {n} {n} Forward Kinematics Instantaneous Kinematics x x δθ δ θ + + x θ Relationship: δθ δ x ± ± θ x Linear Velocity Angular Velocity i i i i i q d ε θ ε = + Joint Coordinates i i revolute : d prismatic coordinate i θ Joint coordinate-i: 0 revolute 1 prismatic i ε = with 1 i i ε ε = and Joint Coordinate Vector: 1 2 ( .... ) T n q q q q =
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