Publication detail

Local control of 2-link robotic worms based on additional symmetries *

FROLÍK, S. HRDINA, J.

English title

Local control of 2-link robotic worms based on additional symmetries *

Type

journal article in Web of Science

Language

en

Original abstract

On a new class of planar mechanisms, we demonstrate local control based on the symmetries of additional geometric structures. Using the example of a two-line robotic worm, we show that an additional CR structure on the control distribution allows local control of the chosen mechanism using symmetries. (c) 2023 The Franklin Institute. Published by Elsevier Inc. All rights reserved.

English abstract

On a new class of planar mechanisms, we demonstrate local control based on the symmetries of additional geometric structures. Using the example of a two-line robotic worm, we show that an additional CR structure on the control distribution allows local control of the chosen mechanism using symmetries. (c) 2023 The Franklin Institute. Published by Elsevier Inc. All rights reserved.

Keywords in English

geometric control; nonholonomic mechanicas; symmetries

Released

11.12.2023

Publisher

PERGAMON-ELSEVIER SCIENCE LTD

Location

OXFORD

ISSN

0016-0032

Volume

360

Number

16

Pages from–to

12280–12298

Pages count

19

BIBTEX


@article{BUT185728,
  author="Stanislav {Frolík} and Jaroslav {Hrdina},
  title="Local control of 2-link robotic worms based on additional symmetries *",
  year="2023",
  volume="360",
  number="16",
  month="December",
  pages="12280--12298",
  publisher="PERGAMON-ELSEVIER SCIENCE LTD",
  address="OXFORD",
  issn="0016-0032"
}