| Title:
|
Nilpotent approximation of a trident snake robot controlling distribution (English) |
| Author:
|
Hrdina, Jaroslav |
| Author:
|
Matoušek, Radomil |
| Author:
|
Návrat, Aleš |
| Author:
|
Vašík, Petr |
| Language:
|
English |
| Journal:
|
Kybernetika |
| ISSN:
|
0023-5954 (print) |
| ISSN:
|
1805-949X (online) |
| Volume:
|
53 |
| Issue:
|
6 |
| Year:
|
2017 |
| Pages:
|
1118-1130 |
| Summary lang:
|
English |
| . |
| Category:
|
math |
| . |
| Summary:
|
We construct a privileged system of coordinates with respect to the controlling distribution of a trident snake robot and, furthermore, we construct a nilpotent approximation with respect to the given filtration. Note that all constructions are local in the neighbourhood of a particular point. We compare the motions corresponding to the Lie bracket of the original controlling vector fields and their nilpotent approximation. (English) |
| Keyword:
|
robotic snake |
| Keyword:
|
local control |
| Keyword:
|
nilpotent approximation |
| MSC:
|
93B27 |
| idZBL:
|
Zbl 06861644 |
| idMR:
|
MR3758938 |
| DOI:
|
10.14736/kyb-2017-6-1118 |
| . |
| Date available:
|
2018-02-26T11:32:42Z |
| Last updated:
|
2018-05-25 |
| Stable URL:
|
http://hdl.handle.net/10338.dmlcz/147088 |
| . |
| Reference:
|
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