Lie algebra structure in the model of 3-link snake robot

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216224%3A14310%2F24%3A00139030" target="_blank" >RIV/00216224:14310/24:00139030 - isvavai.cz</a>

Result on the web

<a href="http://dx.doi.org/10.5817/AM2024-4-221" target="_blank" >http://dx.doi.org/10.5817/AM2024-4-221</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.5817/AM2024-4-221" target="_blank" >10.5817/AM2024-4-221</a>

Result language

angličtina

Original language name

Lie algebra structure in the model of 3-link snake robot

Original language description

In this paper, we study a 5 dimensional configuration space of a 3-link snake robot model moving in a plane. We will derive two vector fields generating a distribution which represents a space of the robot’s allowable movement directions. An arbitrary choice of such generators generates the entire tangent space of the configuration space, i.e. the distribution is bracket-generating, but our choice additionally generates a finite dimensional Lie algebra over real numbers. This allows us to extend our model to a model with local Lie group structure, which may have interesting consequences for our original model.

Czech name

—

Czech description

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Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

—

OECD FORD branch

10100 - Mathematics

Project

—

Continuities

S - Specificky vyzkum na vysokych skolach

Publication year

2024

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Archivum Mathematicum

ISSN

1212-5059

e-ISSN

—

Volume of the periodical

60

Issue of the periodical within the volume

4

Country of publishing house

CZ - CZECH REPUBLIC

Number of pages

9

Pages from-to

221-229

UT code for WoS article

001415319100002

EID of the result in the Scopus database

2-s2.0-85211328242