Publication detail

Note on Signature of Trident Mechanisms with Distribution Growth Vector (4,7)

FROLÍK, S.

Original Title

Note on Signature of Trident Mechanisms with Distribution Growth Vector (4,7)

English Title

Note on Signature of Trident Mechanisms with Distribution Growth Vector (4,7)

Type

conference paper

Language

en

Original Abstract

We recall some basic concepts of differential geometry and control theory and their application in robotics, namely we describe so called generalized trident snake robot with four control parameters. Indeed, we are working with a model that combines a robotic snake and Doubin car. We determine the controlling distribution and describe its properties. Consequently, we determine the signature corresponding to the mechanisms with four controlling parameters. This is essential for analysis of the underlying algebraic structure and allows us to choose suitable control model.

English abstract

We recall some basic concepts of differential geometry and control theory and their application in robotics, namely we describe so called generalized trident snake robot with four control parameters. Indeed, we are working with a model that combines a robotic snake and Doubin car. We determine the controlling distribution and describe its properties. Consequently, we determine the signature corresponding to the mechanisms with four controlling parameters. This is essential for analysis of the underlying algebraic structure and allows us to choose suitable control model.

Keywords

Non-holonomic system; Trident robot ; Differential geometry ; Signature;

Released

14.04.2019

Publisher

Springer Verlag

Location

Switzerland

ISBN

978-3-030-14983-3

Book

Modelling and Simulation for Autonomous Systems. MESAS 2018.

Edition

Lecture Notes in Computer Science, vol 11472.

Pages from

82

Pages to

89

Pages count

8

BibTex


@inproceedings{BUT161119,
  author="Stanislav {Frolík}",
  title="Note on Signature of Trident Mechanisms with Distribution Growth Vector (4,7)",
  annote="We recall some basic concepts of differential geometry and control theory and their application in robotics, namely we describe so called generalized trident snake robot with four control parameters. Indeed, we are working with a model that combines a robotic snake and Doubin car. We determine the controlling distribution and describe its properties. Consequently, we determine the signature corresponding to the mechanisms with four controlling parameters. This is essential for analysis of the underlying algebraic structure and allows us to choose suitable control model.",
  address="Springer Verlag",
  booktitle="Modelling and Simulation for Autonomous Systems. MESAS 2018.",
  chapter="161119",
  doi="10.1007/978-3-030-14984-0_7",
  edition="Lecture Notes in Computer Science, vol 11472.",
  howpublished="print",
  institution="Springer Verlag",
  year="2019",
  month="april",
  pages="82--89",
  publisher="Springer Verlag",
  type="conference paper"
}