IEEE - Institute of Electrical and Electronics Engineers, Inc. - Task-induced symmetry and reduction in kinematic systems with application to needle steering

2007 IEEE/RSJ International Conference on Intelligent Robots and Systems

Author(s): V. Kallem ; Dong Eui Chang ; N.J. Cowan
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 October 2007
Conference Location: San Diego, CA, USA
Conference Date: 29 October 2007
Page(s): 3,302 - 3,308
ISBN (CD): 978-1-4244-0912-9
ISBN (Paper): 978-1-4244-0911-2
DOI: 10.1109/IROS.2007.4399466
Regular:

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... View More

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