Publication detail
On geometric control models of a robotic snake
NÁVRAT, A. VAŠÍK, P.
English title
On geometric control models of a robotic snake
Type
journal article in Web of Science
Language
en
Original abstract
We present three possible ways of controlling a robotic system called a 3-link snake robot. First, we recall the classical approach by constructing the controlling vector fields and their Lie brackets. Next we modify the coordinate system in order to obtain a nilpotent approximation of the controlling distribution. This is based on the notions of sub-Riemannian geometry. The third model is based on serpenoid curve and maintains the global control task.
English abstract
We present three possible ways of controlling a robotic system called a 3-link snake robot. First, we recall the classical approach by constructing the controlling vector fields and their Lie brackets. Next we modify the coordinate system in order to obtain a nilpotent approximation of the controlling distribution. This is based on the notions of sub-Riemannian geometry. The third model is based on serpenoid curve and maintains the global control task.
Keywords in English
robotic snake, local control
Released
24.05.2017
Publisher
Universita del Salento
Location
Itálie
ISSN
1123-2536
Volume
37
Number
Suppl. 1
Pages from–to
119–129
Pages count
11
BIBTEX
@article{BUT136082,
author="Aleš {Návrat} and Petr {Vašík},
title="On geometric control models of a robotic snake",
year="2017",
volume="37",
number="Suppl. 1",
month="May",
pages="119--129",
publisher="Universita del Salento",
address="Itálie",
issn="1123-2536"
}