Publication detail

On geometric control models of a robotic snake

NÁVRAT, A. VAŠÍK, P.

Original Title

On geometric control models of a robotic snake

Type

journal article in Web of Science

Language

English

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.

Keywords

robotic snake, local control

Authors

NÁVRAT, A.; VAŠÍK, P.

Released

24. 5. 2017

Publisher

Universita del Salento

Location

Itálie

ISBN

1123-2536

Periodical

Note di Matematica

Year of study

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"
}