Publication detail

Local Controllability of Snake Robots Based on CRA, Theory and Practice

HRDINA, J. VAŠÍK, P. NÁVRAT, A. HILDENBRAND, D.

English title

Local Controllability of Snake Robots Based on CRA, Theory and Practice

Type

WoS Article

Language

en

Original abstract

We introduce the transcript of direct and differential kinematics of a robotic snake in terms of Compass Ruler Algebra (CRA). We suppose that the robot moves on a planar surface. We provide the original and optimized code of elementary motions in GAALOP together with runtime comparisons.

Keywords in English

Clifford algebras; Conformal geometry; Conformal geometric algebra; Linearization

Released

2019-11-10

Publisher

SPRINGER BASEL AG

Location

BASEL

ISSN

0188-7009

Journal

Advances in Applied Clifford Algebras

Volume

30

Number

1

Pages from–to

1–21

Pages count

21

BIBTEX


@article{BUT160794,
  author="Dietmar {Hildenbrand} and Jaroslav {Hrdina} and Aleš {Návrat} and Petr {Vašík}",
  title="Local Controllability of Snake Robots Based on CRA, Theory and Practice",
  journal="Advances in Applied Clifford Algebras",
  year="2019",
  volume="30",
  number="1",
  pages="1--21",
  doi="10.1007/s00006-019-1022-8",
  issn="0188-7009",
  url="https://doi.org/10.1007/s00006-019-1022-8"
}