Kybernetika 53 no. 6, 1118-1130, 2017

Nilpotent approximation of a trident snake robot controlling distribution

Jaroslav Hrdina, Radomil Matoušek, Aleš Návrat and Petr VašíkDOI: 10.14736/kyb-2017-6-1118


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.


robotic snake, local control, nilpotent approximation




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