Publication result detail

Trident Snake Control Based on Conformal Geometric Algebra

NÁVRAT, A.; MATOUŠEK, R.

Original Title

Trident Snake Control Based on Conformal Geometric Algebra

English Title

Trident Snake Control Based on Conformal Geometric Algebra

Type

Paper in proceedings (conference paper)

Original Abstract

Local controllability of a trident snake robot is solved by means of 5D conformal geometric algebra. The non–holonomic kinematic equations are assembled, their property to be a Pfaff system is discussed and the solution is found. The functionality is demonstrated on a virtual model in CLUCalc programme.

English abstract

Local controllability of a trident snake robot is solved by means of 5D conformal geometric algebra. The non–holonomic kinematic equations are assembled, their property to be a Pfaff system is discussed and the solution is found. The functionality is demonstrated on a virtual model in CLUCalc programme.

Keywords

Conformal geometric algebra; Clifford algebra; Mathematics robotic; Nonholonomic mechanics; Snake robots; Local controllability; Bionics

Key words in English

Conformal geometric algebra; Clifford algebra; Mathematics robotic; Nonholonomic mechanics; Snake robots; Local controllability; Bionics

Authors

NÁVRAT, A.; MATOUŠEK, R.

RIV year

2016

Released

07.06.2015

Publisher

Springer International Publishing

Location

Switzerland

ISBN

978-3-319-19824-8

Book

Mendel 2015: Recent Advances in Soft Computing

Edition

AISC

ISBN

2194-5357

Periodical

Advances in Intelligent Systems and Computing

Volume

2015

Number

378

State

Swiss Confederation

Pages from

375

Pages to

385

Pages count

11

BibTex

@inproceedings{BUT121724,
  author="Aleš {Návrat} and Radomil {Matoušek}",
  title="Trident Snake Control Based on Conformal Geometric Algebra",
  booktitle="Mendel 2015: Recent Advances in Soft Computing",
  year="2015",
  series="AISC",
  journal="Advances in Intelligent Systems and Computing",
  volume="2015",
  number="378",
  pages="375--385",
  publisher="Springer International Publishing",
  address="Switzerland",
  doi="10.1007/978-3-319-19824-8\{_}31",
  isbn="978-3-319-19824-8",
  issn="2194-5357"
}