Detail publikace

Local Controllability of Snake Robots Based on CRA, Theory and Practice

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

Originální název

Local Controllability of Snake Robots Based on CRA, Theory and Practice

Typ

článek v časopise ve Web of Science, Jimp

Jazyk

angličtina

Originální abstrakt

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.

Klíčová slova

Clifford algebras; Conformal geometry; Conformal geometric algebra; Linearization

Autoři

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

Vydáno

10. 11. 2019

Nakladatel

SPRINGER BASEL AG

Místo

BASEL

ISSN

0188-7009

Periodikum

ADV APPL CLIFFORD AL

Ročník

30

Číslo

1

Stát

Švýcarská konfederace

Strany od

1

Strany do

21

Strany počet

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"
}