References

  • [1] Featherstone, R. Robot Dynamics Algorithms. Kluwer Academic Press: Boston (1987).
  • [2] Angeles, J. Fundamentals of Robotic Mechanical Systems. Springer:New York (1996).
  • [3] Featherstone, R. "The Calculation of Robot Dynamics Using Articulated-Body Inertias", Int. J. of Robotics Research v.2 n.1 (1983), pp.13:30.
  • [4] Grzeszczuk, R.; Terzopoulos, D.; Hinton, G., "NeuroAnimator: Fast Neural  Network Emulation and Control of Physics-Based Models," Proceedings of SIGGRAPH 98.
  • [5] Lemelin, P. "Comparative and Functionality Myology of the Prehensile Tail in New World Monkeys," J. of Morphology v.224 (1995), pp. 351:368.
  • [6] Laska, M. "Laterality in the Use of the Prehensile Tail in the Spider Monkey," Cortex v.34 (1998), pp.123:130.
  • [7] Gershenfeld, N. Nature of Mathematical Modeling. Cambridge University Press:Cambridge (1999).
  • [8] Press , W. et al. Numerical Recipes in C. Cambridge University Press:Cambridge (1992).
Other similar works.
  • Sims, K. "Evolving Virtual Creatures," Proceedings of SIGGRAPH 94, pp. 15:22.
  • Witkin, A. et al."Interactive Dynamics," Computer Graphics v.24 n.2 (1990), pp. 11:21.
  • Baraff, D. "Linear-Time Dynamics using Lagrange Multipliers," Proceedings of SIGGRAPH 96.
Mechanical references.
  • Nakamura, Y. Advanced Robotics: Redundancy and Optimization, Addison-Wesley:New York (1991).
  • McCarthy, J. ed. Kinematics of Robot Manipulators. MIT Press:Cambridge (1987).
    • References I really want to find.
    • Hirose, S. Biologically Inspired Robots: Snake-like Locomotors and Manipulators. Oxford University Press:Oxford, (1993).

     

     
     
     
     
     
     

    Acknowledgements

    Despite the relatively short length of this project, there are a number of people I should thank. Thanks go to Michael Patrick Johnson as an endless fount of interesting and relevant papers and for putting up with my constant pestering.  Thanks to Rich De Vaul for listening to my simplified model and saying that is wasn't a complete fabrication, as well as for his help in TAing the class.  Thanks for Ari Adler for being there late at night when I was fighting with this; his company was all that stood between me and madness at times (and vice-versa, I suspect).  Finally, my deepest thanks to Neil Gershenfeld for teaching what was both a very enlightening and entertaining class (and for writting an invaluable reference), and to Ben Vigoda for endless hours of help in his role of TA.