Publication detail
Trident Snake Control Based on Conformal Geometric Algebra
NÁVRAT, A. MATOUŠEK, R.
Czech title
Řízení trident robota pomocí konformní geometrické algebry
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.
Czech abstract
Lokální řiditelnost trident robota je řešena pomocí 5D konformní geometrické algebry. Jsou sestaveny neholonomní kinematické rovnice, diskutují se jejich vlastnosti a je nalezeno řešení. Funkčnost je domonstrována vizualizací v programu CLUCalc.
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 in English
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
ISSN
2194-5357
Book
Mendel 2015: Recent Advances in Soft Computing
Volume
2015
Number
378
Pages from–to
375–385
Pages count
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",
volume="2015",
number="378",
month="June",
pages="375--385",
publisher="Springer International Publishing",
address="Switzerland",
isbn="978-3-319-19824-8",
issn="2194-5357"
}