Publication detail

CGA-based robotic snake control

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

Original Title

CGA-based robotic snake control

English Title

CGA-based robotic snake control

Type

journal article in Web of Science

Language

en

Original Abstract

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.

English abstract

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.

Keywords

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

Released

03.03.2017

Publisher

Springer Basel AG

Location

Basel, Switzerland

Pages from

621

Pages to

632

Pages count

11

URL

Documents

BibTex


@article{BUT133959,
  author="Jaroslav {Hrdina} and Petr {Vašík} and Aleš {Návrat} and Radomil {Matoušek}",
  title="CGA-based robotic snake control",
  annote="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.",
  address="Springer Basel AG",
  chapter="133959",
  doi="10.1007/s00006-016-0695-5",
  howpublished="print",
  institution="Springer Basel AG",
  number="1",
  volume="27",
  year="2017",
  month="march",
  pages="621--632",
  publisher="Springer Basel AG",
  type="journal article in Web of Science"
}