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CORR
2002
Springer

Instabilities of Robot Motion

8 years 8 months ago
Instabilities of Robot Motion
Instabilities of robot motion are caused by topological reasons. In this paper we find a relation between the topological properties of a configuration space (the structure of its cohomology algebra) and the character of instabilities, which are unavoidable in any motion planning algorithm. More specifically, let X denote the space of all admissible configurations of a mechanical system. A motion planner is given by a splitting X
Michael Farber
Added 18 Dec 2010
Updated 18 Dec 2010
Type Journal
Year 2002
Where CORR
Authors Michael Farber
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