A catalog of inverse-kinematics planners for underactuated systems on matrix groups

2003/05/01 by Sonia Martinez, Jorge Cortes, Martinez, Sonia +3
Mathematics · #70B15 #70G65 #70Q05 #FOS: Mathematics #Optimization and Control (math.OC) #math.OC #msc:70B15 #msc:70G65 #msc:70Q05

paper · pdf · doi:10.48550/arxiv.math/0305003

8 pages, double column, 3 figures

arxiv created 2003/05/01 · arxiv updated 2009/11/30

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 \SE2, \SO3 and \SE2×\real classified according to their controllability properties.

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