Publication detail

Trident Snake Robot Motion Simulation in V-Rep

BYRTUS, R. VECHETOVÁ, J.

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 in English

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

Volume

11472

Edition number

1

Pages from–to

27–42

Pages count

16

BIBTEX


@inproceedings{BUT157494,
  author="Roman {Byrtus} and Jana {Vechetová},
  title="Trident Snake Robot Motion Simulation in V-Rep",
  booktitle="Modelling and Simulation for Autonomous Systems",
  year="2019",
  volume="11472",
  month="February",
  pages="27--42",
  publisher="Springer International Publishing",
  address="Switzerland",
  isbn="978-3-030-14984-0"
}