Nilpotent approximation of a trident snake robot controlling distribution.

DOI10.14736/KYB-2017-6-1118zbMATH Open1449.93194arXiv1607.08500OpenAlexW2963344771MaRDI QIDQ4637458FDOQ4637458

Authors: Jaroslav Hrdina, R. Matoušek, Aleš Návrat, Petr Vašík 

Publication date: 18 April 2018

Published in: Kybernetika (Search for Journal in Brave)

Abstract: 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.

Full work available at URL: https://arxiv.org/abs/1607.08500

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zbMATH Keywords

nilpotent approximationlocal controlrobotic snake

Mathematics Subject Classification ID

Automated systems (robots, etc.) in control theory (93C85) Geometric methods (93B27)

Cited In (3)

• Model predictive control of non-holonomic systems: beyond differential-drive vehicles
• Local controllability of trident snake robot based on sub-Riemannian extremals
• On geometric control models of a robotic snake

Uses Software

• Matlab

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