Publication detail

CGA-based robotic snake control

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

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 in English

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

ISSN

0188-7009

Volume

27

Number

1

Pages from–to

621–632

Pages count

11

BIBTEX


@article{BUT133959,
  author="Jaroslav {Hrdina} and Petr {Vašík} and Aleš {Návrat} and Radomil {Matoušek},
  title="CGA-based robotic snake control",
  year="2017",
  volume="27",
  number="1",
  month="March",
  pages="621--632",
  publisher="Springer Basel AG",
  address="Basel, Switzerland",
  issn="0188-7009"
}