2024
Configuration space of a 3-link snake robot model
DOLEŽAL, MartinBasic information
Original name
Configuration space of a 3-link snake robot model
Authors
DOLEŽAL, Martin
Edition
THE 44th WINTER SCHOOL GEOMETRY AND PHYSICS, 2024
Other information
Language
English
Type of outcome
Presentations at conferences
Field of Study
10100 1.1 Mathematics
Country of publisher
Czech Republic
Confidentiality degree
is not subject to a state or trade secret
References:
Organization unit
Faculty of Science
Changed: 2/2/2024 13:37, Mgr. Marie Novosadová Šípková, DiS.
Abstract
V originále
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.
Links
| MUNI/A/1099/2022, interní kód MU |
|