Publication detail

Local control of 2-link robotic worms based on additional symmetries *

FROLÍK, S. HRDINA, J.

Original Title

Local control of 2-link robotic worms based on additional symmetries *

Type

journal article in Web of Science

Language

English

Original Abstract

On a new class of planar mechanisms, we demonstrate local control based on the symmetries of additional geometric structures. Using the example of a two-line robotic worm, we show that an additional CR structure on the control distribution allows local control of the chosen mechanism using symmetries. (c) 2023 The Franklin Institute. Published by Elsevier Inc. All rights reserved.

Keywords

geometric control; nonholonomic mechanicas; symmetries

Authors

FROLÍK, S.; HRDINA, J.

Released

11. 12. 2023

Publisher

PERGAMON-ELSEVIER SCIENCE LTD

Location

OXFORD

ISBN

0016-0032

Periodical

JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS

Year of study

360

Number

16

State

United States of America

Pages from

12280

Pages to

12298

Pages count

19

URL

https://www-sciencedirect-com.ezproxy.lib.vutbr.cz/science/article/pii/S0016003223006294?via%3Dihub

BibTex

@article{BUT185728,
  author="Stanislav {Frolík} and Jaroslav {Hrdina}",
  title="Local control of 2-link robotic worms based on additional symmetries *",
  journal="JOURNAL OF THE FRANKLIN INSTITUTE-ENGINEERING AND APPLIED MATHEMATICS",
  year="2023",
  volume="360",
  number="16",
  pages="12280--12298",
  doi="10.1016/j.jfranklin.2023.09.044",
  issn="0016-0032",
  url="https://www-sciencedirect-com.ezproxy.lib.vutbr.cz/science/article/pii/S0016003223006294?via%3Dihub"
}