Detail publikace

Trident Snake Control Based on Conformal Geometric Algebra

NÁVRAT, A. MATOUŠEK, R.

Anglický název

Trident Snake Control Based on Conformal Geometric Algebra

Typ

Stať ve sborníku v databázi WoS či Scopus

Jazyk

en

Originální abstrakt

Local controllability of a trident snake robot is solved by means of 5D conformal geometric algebra. The non–holonomic kinematic equations are assembled, their property to be a Pfaff system is discussed and the solution is found. The functionality is demonstrated on a virtual model in CLUCalc programme.

Klíčová slova anglicky

Conformal geometric algebra; Clifford algebra; Mathematics robotic; Nonholonomic mechanics; Snake robots; Local controllability; Bionics

Vydáno

2015-06-07

Nakladatel

Springer International Publishing

Místo

Switzerland

ISBN

978-3-319-19824-8

ISSN

2194-5357

Kniha

Mendel 2015: Recent Advances in Soft Computing

Ročník

2015

Číslo

378

Strany od–do

375–385

Počet stran

11

BIBTEX


@inproceedings{BUT121724,
  author="Aleš {Návrat} and Radomil {Matoušek}",
  title="Trident Snake Control Based on Conformal Geometric Algebra",
  booktitle="Mendel 2015: Recent Advances in Soft Computing",
  year="2015",
  series="AISC",
  journal="Advances in Intelligent Systems and Computing",
  volume="2015",
  number="378",
  pages="375--385",
  publisher="Springer International Publishing",
  address="Switzerland",
  doi="10.1007/978-3-319-19824-8\{_}31",
  isbn="978-3-319-19824-8",
  issn="2194-5357"
}