A catalog of inverse-kinematics planners for underactuated systems on matrix groups
Sonia Martinez, Jorge Cortes, Francesco Bullo
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 2, 3 and 2× classified according to their controllability properties.
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