Publication detail

A clifford algebra-based algorithm for 3D snake robot kinematics

BYRTUS, R. VAŠÍK, P.

English title

A clifford algebra-based algorithm for 3D snake robot kinematics

Type

WoS Article

Language

en

Original abstract

We present an application of Clifford algebra in the description of the kinematics of nonholonomic mechanisms. In particular, the nonholonomic condition for snake robots is reinterpreted using the conformal geometric algebra (CGA). A dimension-independent algorithm approximating the kinematics of the mechanism is obtained by means of CGA. Using piecewise-constant input, an inverse kinematics algorithm is developed and utilised in a control scheme in three dimensions. The implementation of the algorithm in Python, using the Clifford library, is provided.

Keywords in English

Clifford algebra, Snake robot, Inverse kinematics

Released

2026-01-15

Publisher

Elsevier

Journal

Journal of the Franklin Institute

Volume

363

Number

2

Pages from–to

1–14

Pages count

14

BIBTEX


@article{BUT200016,
  author="Roman {Byrtus} and Petr {Vašík}",
  title="A clifford algebra-based algorithm for 3D snake robot kinematics",
  journal="Journal of the Franklin Institute",
  year="2026",
  volume="363",
  number="2",
  pages="1--14",
  doi="10.1016/j.jfranklin.2025.108297",
  issn="0016-0032",
  url="https://www.sciencedirect.com/science/article/pii/S0016003225007896"
}