Publication result detail

Local Controllability of Snake Robots Based on CRA, Theory and Practice

HRDINA, J.; VAŠÍK, P.; NÁVRAT, A.; HILDENBRAND, D.

Original Title

Local Controllability of Snake Robots Based on CRA, Theory and Practice

English Title

Local Controllability of Snake Robots Based on CRA, Theory and Practice

Type

WoS Article

Original Abstract

We introduce the transcript of direct and differential kinematics of a robotic snake in terms of Compass Ruler Algebra (CRA). We suppose that the robot moves on a planar surface. We provide the original and optimized code of elementary motions in GAALOP together with runtime comparisons.

English abstract

We introduce the transcript of direct and differential kinematics of a robotic snake in terms of Compass Ruler Algebra (CRA). We suppose that the robot moves on a planar surface. We provide the original and optimized code of elementary motions in GAALOP together with runtime comparisons.

Keywords

Clifford algebras; Conformal geometry; Conformal geometric algebra; Linearization

Key words in English

Clifford algebras; Conformal geometry; Conformal geometric algebra; Linearization

Authors

HRDINA, J.; VAŠÍK, P.; NÁVRAT, A.; HILDENBRAND, D.

RIV year

2020

Released

10.11.2019

Publisher

SPRINGER BASEL AG

Location

BASEL

ISBN

0188-7009

Periodical

Advances in Applied Clifford Algebras

Volume

30

Number

1

State

Swiss Confederation

Pages from

1

Pages to

21

Pages count

21

URL

https://doi.org/10.1007/s00006-019-1022-8

Full text in the Digital Library

http://hdl.handle.net/

BibTex

@article{BUT160794,
  author="Dietmar {Hildenbrand} and Jaroslav {Hrdina} and Aleš {Návrat} and Petr {Vašík}",
  title="Local Controllability of Snake Robots Based on CRA, Theory and Practice",
  journal="Advances in Applied Clifford Algebras",
  year="2019",
  volume="30",
  number="1",
  pages="1--21",
  doi="10.1007/s00006-019-1022-8",
  issn="0188-7009",
  url="https://doi.org/10.1007/s00006-019-1022-8"
}