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arXiv · 1607.08500

Nilpotent approximation of a trident snake robot controlling distribution

Jaroslav Hrdina·Ales Navrat·Petr Vasik
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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.

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Jaroslav Hrdina, Ales Navrat, Petr Vasik. 2016-07-28. Nilpotent approximation of a trident snake robot controlling distribution. https://arxiv.org/abs/1607.08500

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