Detail publikace

Trident Snake Control Based on Conformal Geometric Algebra

NÁVRAT, A. MATOUŠEK, R.

Originální název

Trident Snake Control Based on Conformal Geometric Algebra

Typ

článek ve sborníku ve WoS nebo Scopus

Jazyk

angličtina

Originální abstrakt

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.

Klíčová slova

Conformal geometric algebra; Clifford algebra; Mathematics robotic; Nonholonomic mechanics; Snake robots; Local controllability; Bionics

Autoři

NÁVRAT, A.; MATOUŠEK, R.

Rok RIV

2015

Vydáno

7. 6. 2015

Nakladatel

Springer International Publishing

Místo

Switzerland

ISBN

978-3-319-19824-8

Kniha

Mendel 2015: Recent Advances in Soft Computing

Edice

AISC

ISSN

2194-5357

Periodikum

Advances in Intelligent Systems and Computing

Ročník

2015

Číslo

378

Stát

Švýcarská konfederace

Strany od

375

Strany do

385

Strany počet

11

BibTex

@inproceedings{BUT121724,
  author="Aleš {Návrat} and Radomil {Matoušek}",
  title="Trident Snake Control Based on Conformal Geometric Algebra",
  booktitle="Mendel 2015: Recent Advances in Soft Computing",
  year="2015",
  series="AISC",
  journal="Advances in Intelligent Systems and Computing",
  volume="2015",
  number="378",
  pages="375--385",
  publisher="Springer International Publishing",
  address="Switzerland",
  doi="10.1007/978-3-319-19824-8\{_}31",
  isbn="978-3-319-19824-8",
  issn="2194-5357"
}