%0 Journal Article
%T Local controllability of trident snake robot based on sub-Riemannian extremals
%A Jaroslav Hrdina
%J -
%D 2017
%R DOI Code: 10.1285/i15900932v37suppl1p93
%X To solve trident snake robot local controllability by differential geometry tools, we construct a privileged system of coordinates with respect to the distribution given by Pffaf system based on local nonholonomic conditions and, furthermore, we construct a nilpotent approximation of the transformed distribution with respect to the given filtration. We compute normal extremals of sub-Riemanian structure, where the Hamiltonian point of view was used. We demonstrated that the extremals of sub-Riemannian structure based on this distribution play the similar role as classical periodic imputs in control theory with respect of our mechanism
%K local controllability
%K nonholonomic mechanics
%K planar mechanisms
%K sub-Riemannian geometry
%K differential geometry
%U http://siba-ese.unisalento.it/index.php/notemat/article/view/17176