Publication detail

Trident Snake Robot Motion Simulation in V-Rep

BYRTUS, R. VECHETOVÁ, J.

Original Title

Trident Snake Robot Motion Simulation in V-Rep

English Title

Trident Snake Robot Motion Simulation in V-Rep

Type

conference paper

Language

en

Original Abstract

We present a simulation of a trident snake robot motion in two local control models, the original one and its nilpotent approximation. More precisely, we derive the control system from the kinematics of a trident snake robot, calculate its nilpotent approximation and compare these two models by simulating their local motion planning in software V-Rep.

English abstract

We present a simulation of a trident snake robot motion in two local control models, the original one and its nilpotent approximation. More precisely, we derive the control system from the kinematics of a trident snake robot, calculate its nilpotent approximation and compare these two models by simulating their local motion planning in software V-Rep.

Keywords

Kinematics, Motion planning, Robots

Released

01.02.2019

Publisher

Springer International Publishing

Location

Switzerland

ISBN

978-3-030-14984-0

Book

Modelling and Simulation for Autonomous Systems

Edition

Information Systems and Applications, incl. Internet/Web, and HCI

Edition number

1

Pages from

27

Pages to

42

Pages count

16

BibTex


@inproceedings{BUT157494,
  author="Roman {Byrtus} and Jana {Vechetová}",
  title="Trident Snake Robot Motion Simulation in V-Rep",
  annote="We present a simulation of a trident snake robot motion in two local control models, the original one and its nilpotent approximation. More precisely, we derive the control system from the kinematics of a trident snake robot, calculate its nilpotent approximation and compare these two models by simulating their local motion planning in software V-Rep.",
  address="Springer International Publishing",
  booktitle="Modelling and Simulation for Autonomous Systems",
  chapter="157494",
  doi="10.1007/978-3-030-14984-0_3",
  edition="Information Systems and Applications, incl. Internet/Web, and HCI",
  howpublished="online",
  institution="Springer International Publishing",
  year="2019",
  month="february",
  pages="27--42",
  publisher="Springer International Publishing",
  type="conference paper"
}