Detail publikace

CGA-based robotic snake control

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

Anglický název

CGA-based robotic snake control

Typ

článek v časopise ve Web of Science, Jimp

Jazyk

en

Originální abstrakt

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.

Anglický abstrakt

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.

Klíčová slova anglicky

Conformal geometric algebra; Clifford algebra; Mathematical robotics; Nonholonomic mechanics; Snake robots; Local controllability; Bionics

Vydáno

03.03.2017

Nakladatel

Springer Basel AG

Místo

Basel, Switzerland

ISSN

0188-7009

Ročník

27

Číslo

1

Strany od–do

621–632

Počet stran

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"
}