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

Sonia Martínez, Jorge Cortés and Francesco Bullo
Proceedings of the IEEE/RSJ Conf. Intelligent Robots and Systems, Las Vegas, Nevada, USA, (2003) 625-630

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) x R classified according to their controllability properties.

File: main.pdf

Bib-tex entry:

@InProceedings{SM-JC-FB:03,
author = {J. Cort\'es and S. Mart{\'\i}nez and F. Bullo},
booktitle = {2003 IEEE/RSJ Conf. Intelligent Robots and Systems},
title = {A catalog of inverse-kinematic planners for underactuated systems on matrix Lie groups},
pages = {625-630},
year = {2003},
address = {Las Vegas, Nevada}
}