Detail publikace

Local control of (4,5,7,8-10)-filtration snake robot via CGA

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

Anglický název

Local control of (4,5,7,8-10)-filtration snake robot via CGA

Typ

článek v časopise ve Scopus, Jsc

Jazyk

en

Originální abstrakt

We describe the local control of a (6–8)–link snake like robot endowed with omnidirectional wheels on two links (head and tail). All calculations including the position, direct kinematics, differential kinematics and inverse kinematics are described in the terms of CGA only.

Anglický abstrakt

We describe the local control of a (6–8)–link snake like robot endowed with omnidirectional wheels on two links (head and tail). All calculations including the position, direct kinematics, differential kinematics and inverse kinematics are described in the terms of CGA only.

Klíčová slova anglicky

Robotic snake, conformal geometric algebra, nonholonomic kinematics

Vydáno

01.06.2017

Nakladatel

Brno University of Technology

Místo

Brno

ISSN

1803-3814

Ročník

23

Číslo

1

Strany od–do

157–162

Počet stran

6

BIBTEX


@article{BUT143540,
  author="Jaroslav {Hrdina} and Aleš {Návrat} and Petr {Vašík} and Radomil {Matoušek},
  title="Local control of (4,5,7,8-10)-filtration snake robot via CGA",
  year="2017",
  volume="23",
  number="1",
  month="June",
  pages="157--162",
  publisher="Brno University of Technology",
  address="Brno",
  issn="1803-3814"
}