Publication 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

Type

journal article in Web of Science

Language

English

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.

Keywords

Clifford algebras; Conformal geometry; Conformal geometric algebra; Linearization

Authors

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

Released

10. 11. 2019

Publisher

SPRINGER BASEL AG

Location

BASEL

ISBN

0188-7009

Periodical

ADV APPL CLIFFORD AL

Year of study

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

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="ADV APPL CLIFFORD AL",
  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"
}