Optimal Nonholonomic Motion Planning for a Falling Cat

@inproceedings{Fernandes1993OptimalNM,
  title={Optimal Nonholonomic Motion Planning for a Falling Cat},
  author={Chris Fernandes and Leonid Gurvits and Zexiang Li},
  year={1993}
}
How does a falling cat change her orientation in midair without violating the angular momentum constraint? This has become an interesting question to both control engineers and robotists. In this paper, we address this problem together with a constructive solution. First, we show that a falling cat problem is equivalent to the constructive nonlinear controllability problem. Thus, the same principle and algorithm used by a falling cat can be used for space robotic applications such as… CONTINUE READING

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