Publication detail

Trident Snake Control Based on Conformal Geometric Algebra

NÁVRAT, A. MATOUŠEK, R.

Original Title

Trident Snake Control Based on Conformal Geometric Algebra

Type

conference paper

Language

English

Original Abstract

Local controllability of a trident snake robot is solved by means of 5D conformal geometric algebra. The non–holonomic kinematic equations are assembled, their property to be a Pfaff system is discussed and the solution is found. The functionality is demonstrated on a virtual model in CLUCalc programme.

Keywords

Conformal geometric algebra; Clifford algebra; Mathematics robotic; Nonholonomic mechanics; Snake robots; Local controllability; Bionics

Authors

NÁVRAT, A.; MATOUŠEK, R.

RIV year

2015

Released

7. 6. 2015

Publisher

Springer International Publishing

Location

Switzerland

ISBN

978-3-319-19824-8

Book

Mendel 2015: Recent Advances in Soft Computing

Edition

AISC

ISBN

2194-5357

Periodical

Advances in Intelligent Systems and Computing

Year of study

2015

Number

378

State

Swiss Confederation

Pages from

375

Pages to

385

Pages count

11

BibTex

@inproceedings{BUT121724,
  author="Aleš {Návrat} and Radomil {Matoušek}",
  title="Trident Snake Control Based on Conformal Geometric Algebra",
  booktitle="Mendel 2015: Recent Advances in Soft Computing",
  year="2015",
  series="AISC",
  journal="Advances in Intelligent Systems and Computing",
  volume="2015",
  number="378",
  pages="375--385",
  publisher="Springer International Publishing",
  address="Switzerland",
  doi="10.1007/978-3-319-19824-8\{_}31",
  isbn="978-3-319-19824-8",
  issn="2194-5357"
}