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Keywords:
snake robot; CR structure; Cartan equivalence method
snake robot; CR structure; Cartan equivalence method
Summary:
We study the geometry associated with the kinematics of a planar robot known as the three-segment snake, whose velocity distribution belongs to a class of $(2,3,5)$ distributions. We discover that, under certain assumptions on its construction parameters, the snake may be endowed with a CR structure of CR dimension 1 and real codimension 3. We solve the associated Cartan equivalence problem and find the invariants of the snake’s CR structure.
References:
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