Publication result detail

CGA-based robotic snake control

HRDINA, J.; VAŠÍK, P.; NÁVRAT, A.; MATOUŠEK, R.

Original Title

CGA-based robotic snake control

English Title

CGA-based robotic snake control

Type

WoS Article

Original Abstract

Local controllability of an n-link robotic snake with variable wheel positions is solved by means of the conformal geometric algebra, more precisely by the Clifford algebra of signature (3, 1). The non-holonomic kinematic equations are assembled, their role in the geometric control theory is discussed and the singular positions are elaborated. Within this paper, we present an alternative model description only, while all its kinematic properties remain.

English abstract

Local controllability of an n-link robotic snake with variable wheel positions is solved by means of the conformal geometric algebra, more precisely by the Clifford algebra of signature (3, 1). The non-holonomic kinematic equations are assembled, their role in the geometric control theory is discussed and the singular positions are elaborated. Within this paper, we present an alternative model description only, while all its kinematic properties remain.

Keywords

Conformal geometric algebra; Clifford algebra; Mathematical robotics; Nonholonomic mechanics; Snake robots; Local controllability; Bionics

Key words in English

Conformal geometric algebra; Clifford algebra; Mathematical robotics; Nonholonomic mechanics; Snake robots; Local controllability; Bionics

Authors

HRDINA, J.; VAŠÍK, P.; NÁVRAT, A.; MATOUŠEK, R.

RIV year

2018

Released

03.03.2017

Publisher

Springer Basel AG

Location

Basel, Switzerland

ISBN

0188-7009

Periodical

Advances in Applied Clifford Algebras

Volume

27

Number

1

State

Swiss Confederation

Pages from

621

Pages to

632

Pages count

11

URL

https://link.springer.com/article/10.1007/s00006-016-0695-5

BibTex

@article{BUT133959,
  author="Jaroslav {Hrdina} and Petr {Vašík} and Aleš {Návrat} and Radomil {Matoušek}",
  title="CGA-based robotic snake control",
  journal="Advances in Applied Clifford Algebras",
  year="2017",
  volume="27",
  number="1",
  pages="621--632",
  doi="10.1007/s00006-016-0695-5",
  issn="0188-7009",
  url="https://link.springer.com/article/10.1007/s00006-016-0695-5"
}