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

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) /spl times/ /spl Ropf/ classified according to their controllability properties.

• Publication year

  2003

• Venue

  IEEE/RJS International Conference on Intelligent RObots and Systems

• Publication date

  2003-05-01

• Fields of study

  Mathematics, Computer Science, Engineering

• Identifiers
  DOI 10.1109/IROS.2003.1250699arXiv math/0305003
• External record

  Open on Semantic Scholar

• Source metadata

  Semantic Scholar

• No claims are published for this paper.

• No concepts are published for this paper.

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