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math.OC2024
Intrinsic Derivation of the Equations of a Snake Robot based on a Cosserat Beam Model
Anis Bousclet, Frederic Boyer, Yacine Chitour +1
In this paper, we present an intrinsic derivation of the equations ruling the dynamics motion of a snake robot dynamics. Based on a Cosserat beam model, we first show that the exte…
math.OC2021
Optimal Regulators in Geometric Robotics
Anis Bousclet
The aim of this paper is to give some existence results of optimal control of robotic systems with a Riemannian geometric view, and derive a formulation of the PMP using the intrin…
math.OC2021
Geometric Control of a Robot's Tool
Anis Bousclet, Mohamed Camil Belhadjoudja
The goal of this paper is to present a rigorous and intrinsic formulation of a Riemannian PD-regulator of the robot's tool, The first one is based upon the Lasalle's invariance pri…