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

Sonia Martínez, Jorge Cortés and Francesco Bullo
Journal of Geometric Mechanics 1 (4) (2009), 445-460

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)xR classified according to their controllability properties.

File: main.pdf

Bib-tex entry:

@electronic{SM-JC-FB:03,
author = {S. Mart{\'\i}nez and J. Cort\'es and F. Bullo},
title = {A catalog of inverse-kinematics planners for underactuated systems on matrix groups},
journal= {Journal of Geometric Mechanics},
volume = {1},
number = {4},
pages = {445--460}
}