Configuration space of a 3-link snake robot model
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| Year of publication | 2024 |
| Type | Appeared in Conference without Proceedings |
| MU Faculty or unit | |
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| Description | I study a configuration space of a 3-link snake robot model moving in a plane, which is one of typical models studied in geometric control theory. The configuration space is 5 dimensional and allowed movements of the snake make a rank 2 bracket-generating distribution on it with a growth vector (2,3,5) (in a regular point). One can find vector fields generating this distribution in such a way that they also generate finite dimensional Lie algebra over reals. Thanks to that, it can be completed to a model locally with a Lie group structure and it helps us to determine symmetries also for the original model. |
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