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@proceedings{2369118, author = {Doležal, Martin}, booktitle = {THE 44th WINTER SCHOOL GEOMETRY AND PHYSICS}, language = {eng}, title = {Configuration space of a 3-link snake robot model}, url = {https://conference.math.muni.cz/srni/files/archiv/2024/conference_materials.pdf}, year = {2024} }
TY - CONF ID - 2369118 AU - Doležal, Martin PY - 2024 TI - Configuration space of a 3-link snake robot model UR - https://conference.math.muni.cz/srni/files/archiv/2024/conference_materials.pdf N2 - I study a configuration space of a 3-link snake robot model moving in a plane, which is one of typical models studied in geometric control theory. The configuration space is 5 dimensional and allowed movements of the snake make a rank 2 bracket-generating distribution on it with a growth vector (2,3,5) (in a regular point). One can find vector fields generating this distribution in such a way that they also generate finite dimensional Lie algebra over reals. Thanks to that, it can be completed to a model locally with a Lie group structure and it helps us to determine symmetries also for the original model. ER -
DOLEŽAL, Martin. Configuration space of a 3-link snake robot model. In \textit{THE 44th WINTER SCHOOL GEOMETRY AND PHYSICS}. 2024.
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