Publication result detail

On geometric control models of a robotic snake

NÁVRAT, A.; VAŠÍK, P.

Original Title

On geometric control models of a robotic snake

English Title

On geometric control models of a robotic snake

Type

WoS Article

Original Abstract

We present three possible ways of controlling a robotic system called a 3-link snake robot. First, we recall the classical approach by constructing the controlling vector fields and their Lie brackets. Next we modify the coordinate system in order to obtain a nilpotent approximation of the controlling distribution. This is based on the notions of sub-Riemannian geometry. The third model is based on serpenoid curve and maintains the global control task.

English abstract

We present three possible ways of controlling a robotic system called a 3-link snake robot. First, we recall the classical approach by constructing the controlling vector fields and their Lie brackets. Next we modify the coordinate system in order to obtain a nilpotent approximation of the controlling distribution. This is based on the notions of sub-Riemannian geometry. The third model is based on serpenoid curve and maintains the global control task.

Keywords

robotic snake, local control

Key words in English

robotic snake, local control

Authors

NÁVRAT, A.; VAŠÍK, P.

RIV year

2018

Released

24.05.2017

Publisher

Universita del Salento

Location

Itálie

ISBN

1123-2536

Periodical

Note di Matematica

Volume

37

Number

Suppl. 1

State

Republic of Italy

Pages from

119

Pages to

129

Pages count

11

URL

http://siba-ese.unisalento.it/index.php/notemat/article/view/17178

BibTex

@article{BUT136082,
  author="Aleš {Návrat} and Petr {Vašík}",
  title="On geometric control models of a robotic snake",
  journal="Note di Matematica",
  year="2017",
  volume="37",
  number="Suppl. 1",
  pages="119--129",
  doi="10.1285/i15900932v37suppl1p119",
  issn="1123-2536",
  url="http://siba-ese.unisalento.it/index.php/notemat/article/view/17178"
}