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March  2012, 7(1): 71-111. doi: 10.3934/nhm.2012.7.71

Robot's finger and expansions in non-integer bases

Anna Chiara Lai 1, and  Paola Loreti 2,

1. 

Sapienza Università di Roma, Dipartimento di Scienze di Base e Applicate per l’Ingegneria, Sezione Matematica, Via A. Scarpa n.16 00161 Roma, Italy
2. 

Sapienza Università di Roma, Sapienza Università di Roma, Dipartimento di Scienze di Base e Applicate per l’Ingegneria, Sezione Matematica, Via A. Scarpa n.16 00161 Roma, Italy

Received  July 2011 Revised  December 2011 Published  February 2012

We study a robot finger model in the framework of the theory of expansions in non-integer bases. We investigate the reachable set and its closure. A control policy to get approximate reachability is also proposed.
Keywords: discrete control, expansions in non-integer bases, Robot finger, expansions in complex bases..
Mathematics Subject Classification: 70E60, 11A6.
Citation: Anna Chiara Lai, Paola Loreti. Robot's finger and expansions in non-integer bases. Networks & Heterogeneous Media, 2012, 7 (1) : 71-111. doi: 10.3934/nhm.2012.7.71
References:
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show all references

References:
[1]

A. Bicchi, Robotic grasping and contact: A review,, Proc. IEEE Int. Conf. on Robotics and Automation, (2000), 348.   Google Scholar

[2]

Y. Chitour and B. Piccoli, Controllability for discrete systems with a finite control set,, Mathematics of Control Signals and Systems, 14 (2001), 173.  doi: 10.1007/PL00009881.  Google Scholar

[3]

P. Erd\Hos and V. Komornik, Developments in non-integer bases,, Acta Math. Hungar., 79 (1998), 57.  doi: 10.1023/A:1006557705401.  Google Scholar

[4]

K. J. Falconer, "Fractal Geometry,", Mathematical Foundations and Applications, (1990).   Google Scholar

[5]

W. J. Gilbert, Geometry of radix representations,, in, (1981), 129.  doi: 10.1007/978-1-4612-5648-9_7.  Google Scholar

[6]

W. J. Gilbert, The fractal dimension of sets derived from complex bases,, Canad. Math. Bull., 29 (1986), 495.  doi: 10.4153/CMB-1986-078-1.  Google Scholar

[7]

W. J. Gilbert, Complex bases and fractal similarity,, Ann. Sci. Math. Québec, 11 (1987), 65.   Google Scholar

[8]

P. S. Heckbert, ed., "Graphics Gems IV,", Academic Press, (1994).   Google Scholar

[9]

J. Easudes C. J. H. Moravec and F. Dellaert, Fractal branching ultra-dexterous robots (bush robots),, Technical report, (1996).   Google Scholar

[10]

J. Hutchinson, Fractals and self-similarity,, Indiana Univ. Math. J., 30 (1981), 713.  doi: 10.1512/iumj.1981.30.30055.  Google Scholar

[11]

K.-H. Indlekofer, I. Kátai and P. Racskó, Number systems and fractal geometry,, in, 80 (1992), 319.   Google Scholar

[12]

A. C. Lai, "On Expansions in Non-Integer Base,", Ph.D thesis, (2010).   Google Scholar

[13]

W. Parry, On the $\beta $-expansions of real numbers,, Acta Math. Acad. Sci. Hungar., 11 (1960), 401.  doi: 10.1007/BF02020954.  Google Scholar

[14]

J. Pineda, A parallel algorithm for polygon rasterization,, Proceedings of the 15th annual conference on Computer graphics and interactive techniques, 22 (1988), 17.   Google Scholar

[15]

A. Rényi, Representations for real numbers and their ergodic properties,, Acta Math. Acad. Sci. Hungar, 8 (1957), 477.  doi: 10.1007/BF02020331.  Google Scholar

[16]

B. Siciliano and O. Khatib, "Springer Handbook of Robotics,", 2008., ().   Google Scholar

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