Abstract:
This paper presents motion planning algorithms for underactuated systems evolving on rigid rotation and displacement groups. Motion planning is transcribed into (low-dime...Show MoreMetadata
Abstract:
This paper presents motion planning algorithms for underactuated systems evolving on rigid rotation and displacement groups. Motion planning is transcribed into (low-dimensional) combinatorial selection and inverse-kinematics problems. We present a catalog of solutions for all underactuated systems on SE(2), SO(3) and SE(2) /spl times/ /spl Ropf/ classified according to their controllability properties.
Published in: Proceedings 2003 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2003) (Cat. No.03CH37453)
Date of Conference: 27-31 October 2003
Date Added to IEEE Xplore: 08 December 2003
Print ISBN:0-7803-7860-1
Contents 