Publication result detail

Local control of (4,5,7,8-10)-filtration snake robot via CGA

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

Original Title

Local control of (4,5,7,8-10)-filtration snake robot via CGA

English Title

Local control of (4,5,7,8-10)-filtration snake robot via CGA

Type

Scopus Article

Original Abstract

We describe the local control of a (6–8)–link snake like robot endowed with omnidirectional wheels on two links (head and tail). All calculations including the position, direct kinematics, differential kinematics and inverse kinematics are described in the terms of CGA only.

English abstract

We describe the local control of a (6–8)–link snake like robot endowed with omnidirectional wheels on two links (head and tail). All calculations including the position, direct kinematics, differential kinematics and inverse kinematics are described in the terms of CGA only.

Keywords

Robotic snake, conformal geometric algebra, nonholonomic kinematics

Key words in English

Robotic snake, conformal geometric algebra, nonholonomic kinematics

Authors

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

RIV year

2018

Released

01.06.2017

Publisher

Brno University of Technology

Location

Brno

ISBN

1803-3814

Periodical

Mendel Journal series

Volume

23

Number

1

State

Czech Republic

Pages from

157

Pages to

162

Pages count

6

BibTex

@article{BUT143540,
  author="Jaroslav {Hrdina} and Aleš {Návrat} and Petr {Vašík} and Radomil {Matoušek}",
  title="Local control of (4,5,7,8-10)-filtration snake robot via CGA",
  journal="Mendel Journal series",
  year="2017",
  volume="23",
  number="1",
  pages="157--162",
  issn="1803-3814"
}