Detail publikace
On geometric control models of a robotic snake
NÁVRAT, A. VAŠÍK, P.
Anglický název
On geometric control models of a robotic snake
Typ
Článek WoS
Jazyk
en
Originální abstrakt
We present three possible ways of controlling a robotic system called a 3-link snake robot. First, we recall the classical approach by constructing the controlling vector fields and their Lie brackets. Next we modify the coordinate system in order to obtain a nilpotent approximation of the controlling distribution. This is based on the notions of sub-Riemannian geometry. The third model is based on serpenoid curve and maintains the global control task.
Klíčová slova anglicky
robotic snake, local control
Vydáno
2017-05-24
Nakladatel
Universita del Salento
Místo
Itálie
ISSN
1123-2536
Ročník
37
Číslo
Suppl. 1
Strany od–do
119–129
Počet stran
11
BIBTEX
@article{BUT136082,
author="Aleš {Návrat} and Petr {Vašík}",
title="On geometric control models of a robotic snake",
journal="Note di Matematica",
year="2017",
volume="37",
number="Suppl. 1",
pages="119--129",
doi="10.1285/i15900932v37suppl1p119",
issn="1123-2536",
url="http://siba-ese.unisalento.it/index.php/notemat/article/view/17178"
}