Publication detail

Trident Snake Control Based on Conformal Geometric Algebra

NÁVRAT, A. MATOUŠEK, R.

Original Title

Trident Snake Control Based on Conformal Geometric Algebra

English Title

Trident Snake Control Based on Conformal Geometric Algebra

Type

conference paper

Language

en

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.

English 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

RIV year

2015

Released

07.06.2015

Publisher

Springer International Publishing

Location

Switzerland

ISBN

978-3-319-19824-8

Book

Mendel 2015: Recent Advances in Soft Computing

Edition

AISC

Pages from

375

Pages to

385

Pages count

11

Documents

BibTex


@inproceedings{BUT121724,
  author="Aleš {Návrat} and Radomil {Matoušek}",
  title="Trident Snake Control Based on Conformal Geometric Algebra",
  annote="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.",
  address="Springer International Publishing",
  booktitle="Mendel 2015: Recent Advances in Soft Computing",
  chapter="121724",
  doi="10.1007/978-3-319-19824-8_31",
  edition="AISC",
  howpublished="print",
  institution="Springer International Publishing",
  number="378",
  year="2015",
  month="june",
  pages="375--385",
  publisher="Springer International Publishing",
  type="conference paper"
}