Publication result detail

A clifford algebra-based algorithm for 3D snake robot kinematics

BYRTUS, R.; VAŠÍK, P.

Original Title

A clifford algebra-based algorithm for 3D snake robot kinematics

English Title

A clifford algebra-based algorithm for 3D snake robot kinematics

Type

WoS Article

Original Abstract

We present an application of Clifford algebra in the description of the kinematics of nonholonomic mechanisms. In particular, the nonholonomic condition for snake robots is reinterpreted using the conformal geometric algebra (CGA). A dimension-independent algorithm approximating the kinematics of the mechanism is obtained by means of CGA. Using piecewise-constant input, an inverse kinematics algorithm is developed and utilised in a control scheme in three dimensions. The implementation of the algorithm in Python, using the Clifford library, is provided.

English abstract

We present an application of Clifford algebra in the description of the kinematics of nonholonomic mechanisms. In particular, the nonholonomic condition for snake robots is reinterpreted using the conformal geometric algebra (CGA). A dimension-independent algorithm approximating the kinematics of the mechanism is obtained by means of CGA. Using piecewise-constant input, an inverse kinematics algorithm is developed and utilised in a control scheme in three dimensions. The implementation of the algorithm in Python, using the Clifford library, is provided.

Keywords

Clifford algebra, Snake robot, Inverse kinematics

Key words in English

Clifford algebra, Snake robot, Inverse kinematics

Authors

BYRTUS, R.; VAŠÍK, P.

RIV year

2026

Released

15.01.2026

Publisher

Elsevier

Periodical

Journal of the Franklin Institute

Volume

363

Number

2

State

United States of America

Pages from

1

Pages to

14

Pages count

14

URL

https://www.sciencedirect.com/science/article/pii/S0016003225007896

Full text in the Digital Library

http://hdl.handle.net/11012/255831

BibTex

@article{BUT200016,
  author="Roman {Byrtus} and Petr {Vašík}",
  title="A clifford algebra-based algorithm for 3D snake robot kinematics",
  journal="Journal of the Franklin Institute",
  year="2026",
  volume="363",
  number="2",
  pages="1--14",
  doi="10.1016/j.jfranklin.2025.108297",
  issn="0016-0032",
  url="https://www.sciencedirect.com/science/article/pii/S0016003225007896"
}