Publication detail

Nilpotent approximation of a trident snake robot controlling distribution

HRDINA, J. MATOUŠEK, R. NÁVRAT, A. VAŠÍK, P.

Original Title

Nilpotent approximation of a trident snake robot controlling distribution

Type

journal article in Web of Science

Language

English

Original 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.

Keywords

robotic snake, local control, nilpotent approximation

Authors

HRDINA, J.; MATOUŠEK, R.; NÁVRAT, A.; VAŠÍK, P.

Released

1. 12. 2017

Publisher

UTIA

Location

Prague

ISBN

0023-5954

Periodical

Kybernetika

Year of study

53

Number

6

State

Czech Republic

Pages from

1118

Pages to

1130

Pages count

13

URL

https://www.kybernetika.cz/content/2017/6/1118

BibTex

@article{BUT143990,
  author="Jaroslav {Hrdina} and Radomil {Matoušek} and Aleš {Návrat} and Petr {Vašík}",
  title="Nilpotent approximation of a trident snake robot controlling distribution",
  journal="Kybernetika",
  year="2017",
  volume="53",
  number="6",
  pages="1118--1130",
  doi="10.14736/kyb-2017-6-1118",
  issn="0023-5954",
  url="https://www.kybernetika.cz/content/2017/6/1118"
}