Sonia Martínez
Jacobs Faculty Scholar
Professor of Mechanical and Aerospace Engineering
Jacobs Faculty Scholar
Professor of Mechanical and Aerospace Engineering
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.
@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}
}