Publication detail

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

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

English title

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

Type

Scopus Article

Language

en

Original abstract

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.

Keywords in English

Robotic snake, conformal geometric algebra, nonholonomic kinematics

Released

2017-06-01

Publisher

Brno University of Technology

Location

Brno

ISSN

1803-3814

Volume

23

Number

1

Pages from–to

157–162

Pages count

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",
  journal="Mendel Journal series",
  year="2017",
  volume="23",
  number="1",
  pages="157--162",
  issn="1803-3814"
}