Task-Induced Symmetry and Reduction in Kinematic Systems with Application to Needle Steering.
Task-Induced Symmetry and Reduction in Kinematic Systems with Application to Needle Steering.
复制标题
运动系统中任务引起的对称性和简化及其在针转向中的应用。
DOI：
10.1109/iros.2007.4399466
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发表时间：
2007
期刊：
影响因子：
--
通讯作者：
Cowan,NoahJ
中科院分区：
文献类型：
--
作者：
Kallem,Vinutha;Chang,DongEui;Cowan,NoahJ
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 symmetries that arise from an extrinsic control task, rather than the intrinsic structure of configuration space, constraints, or system dynamics. We illustrate this technique with several examples. In the examples, the reduction enables us to design essentially global feedback controllers on the reduced systems. We apply task-induced symmetry and reduction to a recently developed 6 DOF kinematic model of steerable bevel-tip needles. The resulting controllers cause the needle tip to track a subspace of its configuration space. We envision that the methodology presented in this paper will form the basis for a new planning and control framework for needle steering.
