# American Institute of Mathematical Sciences

January  2015, 2(1): 25-50. doi: 10.3934/jcd.2015.2.25

## Symmetry exploiting control of hybrid mechanical systems

 1 Neuroscience and Robotics Laboratory, Northwestern University, Evanston, IL, United States 2 Chair of Applied Mathematics, University of Paderborn, Paderborn, Germany, Germany

Received  May 2014 Revised  April 2015 Published  August 2015

Symmetry properties such as invariances of mechanical systems can be beneficially exploited in solution methods for control problems. A recently developed approach is based on quantization by so called motion primitives. A library of these motion primitives forms an artificial hybrid system. In this contribution, we study the symmetry properties of motion primitive libraries of mechanical systems in the context of hybrid symmetries. Furthermore, the classical concept of symmetry in mechanics is extended to hybrid mechanical systems and an extended motion planning approach is presented.
Citation: Kathrin Flasskamp, Sebastian Hage-Packhäuser, Sina Ober-Blöbaum. Symmetry exploiting control of hybrid mechanical systems. Journal of Computational Dynamics, 2015, 2 (1) : 25-50. doi: 10.3934/jcd.2015.2.25
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