Nilpotent approximation of a trident snake robot controlling distribution
arXiv:1607.08500
Abstract
We construct a privileged system of coordinates with respect to the controlling distribution of a trident snake robot and, furthermore, we construct a nilpotent approximation with respect to the given filtration. Note that all constructions are local in the neighbourhood of a particular point. We compare the motions corresponding to the Lie bracket of the original controlling vector fields and their nilpotent approximation.
10 pages, 7 figures