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Task-Induced Symmetry and Reduction in Kinematic Systems with Application to Needle Steering
Lie group symmetry in a mechanical system can lead to a dimensional reduction in its dynamical equations. Typically, the symmetries that one exploits are intrinsic to the mechanical system at hand, e.g. invariance of the system’s Lagrangian to some group of motions. In the present work we consider s...
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| Autors principals: | , , |
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| Format: | Artigo |
| Idioma: | Inglês |
| Publicat: |
2007
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| Matèries: | |
| Accés en línia: | https://ncbi.nlm.nih.gov/pmc/articles/PMC2907182/ https://ncbi.nlm.nih.gov/pubmed/20664750 https://ncbi.nlm.nih.govhttp://dx.doi.org/10.1109/IROS.2007.4399466 |
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