Publication detail

Notes on Forward Kinematics of Generalised Robotic Snakes Based on Compass Ruler Algebra

BYRTUS, R. FROLÍK, S.

English title

Notes on Forward Kinematics of Generalised Robotic Snakes Based on Compass Ruler Algebra

Type

Paper in proceedings (conference paper)

Language

en

Original abstract

We use conformal transformations in the kinematic chain of a specific planar mechanism. We present two possible ways to describe the configuration of a three link generalised snake robot using compass ruler algebra, which allows us to point out the nature of the generalised snake as an extension of the classic snake robot.

Keywords in English

Compass ruler algebra; Clifford algebra; Mathematical; robotics; Non-holonomic mechanisms; Snake robots; Forward kinematics

Released

2024-02-03

Publisher

SPRINGER INTERNATIONAL PUBLISHING AG

Location

CHAM

ISBN

978-3-031-34031-4

ISSN

1611-3349

Book

Advanced Computational Applications of Geometric Algebra

Volume

13771

Pages from–to

138–146

Pages count

9

BIBTEX


@inproceedings{BUT188555,
  author="Roman {Byrtus} and Stanislav {Frolík}",
  title="Notes on Forward Kinematics of Generalised Robotic Snakes Based on Compass Ruler Algebra",
  booktitle="Advanced Computational Applications of Geometric Algebra",
  year="2024",
  journal="Lecture Notes in Computer Science",
  volume="13771",
  pages="138--146",
  publisher="SPRINGER INTERNATIONAL PUBLISHING AG",
  address="CHAM",
  doi="10.1007/978-3-031-34031-4\{_}12",
  isbn="978-3-031-34031-4",
  url="https://link.springer.com/chapter/10.1007/978-3-031-34031-4_12"
}