Detail publikace
On geometric control models of a robotic snake
NÁVRAT, A. VAŠÍK, P.
Anglický název
On geometric control models of a robotic snake
Typ
článek v časopise ve Web of Science, Jimp
Jazyk
en
Originální abstrakt
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.
Anglický abstrakt
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.
Klíčová slova anglicky
robotic snake, local control
Vydáno
24.05.2017
Nakladatel
Universita del Salento
Místo
Itálie
ISSN
1123-2536
Ročník
37
Číslo
Suppl. 1
Strany od–do
119–129
Počet stran
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"
}