Publication detail

Nilpotent approximation of a trident snake robot controlling distribution

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

English title

Nilpotent approximation of a trident snake robot controlling distribution

Type

journal article in Web of Science

Language

en

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.

English 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 in English

robotic snake, local control, nilpotent approximation

Released

01.12.2017

Publisher

UTIA

Location

Prague

ISSN

0023-5954

Volume

53

Number

6

Pages from–to

1118–1130

Pages count

13

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",
  year="2017",
  volume="53",
  number="6",
  month="December",
  pages="1118--1130",
  publisher="UTIA",
  address="Prague",
  issn="0023-5954"
}