Lie algebra structure in the model of 3-link snake robot
Archivum Mathematicum (2024)
- Volume: 060, Issue: 4, page 221-229
- ISSN: 0044-8753
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topDoležal, Martin. "Lie algebra structure in the model of 3-link snake robot." Archivum Mathematicum 060.4 (2024): 221-229. <http://eudml.org/doc/299593>.
@article{Doležal2024,
abstract = {In this paper, we study a 5 dimensional configuration space of a 3-link snake robot model moving in a plane. We will derive two vector fields generating a distribution which represents a space of the robot’s allowable movement directions. An arbitrary choice of such generators generates the entire tangent space of the configuration space, i.e. the distribution is bracket-generating, but our choice additionally generates a finite dimensional Lie algebra over real numbers. This allows us to extend our model to a model with local Lie group structure, which may have interesting consequences for our original model.},
author = {Doležal, Martin},
journal = {Archivum Mathematicum},
keywords = {non-integrable distribution; infinitesimal symmetry; solvable Lie group; snake robot},
language = {eng},
number = {4},
pages = {221-229},
publisher = {Department of Mathematics, Faculty of Science of Masaryk University, Brno},
title = {Lie algebra structure in the model of 3-link snake robot},
url = {http://eudml.org/doc/299593},
volume = {060},
year = {2024},
}
TY - JOUR
AU - Doležal, Martin
TI - Lie algebra structure in the model of 3-link snake robot
JO - Archivum Mathematicum
PY - 2024
PB - Department of Mathematics, Faculty of Science of Masaryk University, Brno
VL - 060
IS - 4
SP - 221
EP - 229
AB - In this paper, we study a 5 dimensional configuration space of a 3-link snake robot model moving in a plane. We will derive two vector fields generating a distribution which represents a space of the robot’s allowable movement directions. An arbitrary choice of such generators generates the entire tangent space of the configuration space, i.e. the distribution is bracket-generating, but our choice additionally generates a finite dimensional Lie algebra over real numbers. This allows us to extend our model to a model with local Lie group structure, which may have interesting consequences for our original model.
LA - eng
KW - non-integrable distribution; infinitesimal symmetry; solvable Lie group; snake robot
UR - http://eudml.org/doc/299593
ER -
References
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