Detail publikace

CGA-based robotic snake control

HRDINA, J. VAŠÍK, P. NÁVRAT, A. MATOUŠEK, R.

Originální název

CGA-based robotic snake control

Typ

článek v časopise ve Web of Science, Jimp

Jazyk

angličtina

Originální abstrakt

Local controllability of an n-link robotic snake with variable wheel positions is solved by means of the conformal geometric algebra, more precisely by the Clifford algebra of signature (3, 1). The non-holonomic kinematic equations are assembled, their role in the geometric control theory is discussed and the singular positions are elaborated. Within this paper, we present an alternative model description only, while all its kinematic properties remain.

Klíčová slova

Conformal geometric algebra; Clifford algebra; Mathematical robotics; Nonholonomic mechanics; Snake robots; Local controllability; Bionics

Autoři

HRDINA, J.; VAŠÍK, P.; NÁVRAT, A.; MATOUŠEK, R.

Vydáno

3. 3. 2017

Nakladatel

Springer Basel AG

Místo

Basel, Switzerland

ISSN

0188-7009

Periodikum

ADV APPL CLIFFORD AL

Ročník

27

Číslo

1

Stát

Švýcarská konfederace

Strany od

621

Strany do

632

Strany počet

11

URL

https://link.springer.com/article/10.1007/s00006-016-0695-5

BibTex

@article{BUT133959,
  author="Jaroslav {Hrdina} and Petr {Vašík} and Aleš {Návrat} and Radomil {Matoušek}",
  title="CGA-based robotic snake control",
  journal="ADV APPL CLIFFORD AL",
  year="2017",
  volume="27",
  number="1",
  pages="621--632",
  doi="10.1007/s00006-016-0695-5",
  issn="0188-7009",
  url="https://link.springer.com/article/10.1007/s00006-016-0695-5"
}