Detail publikace

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

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

Anglický název

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

Typ

Článek WoS

Jazyk

en

Originální abstrakt

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.

Klíčová slova anglicky

Clifford algebras; Conformal geometry; Conformal geometric algebra; Linearization

Vydáno

2019-11-10

Nakladatel

SPRINGER BASEL AG

Místo

BASEL

ISSN

0188-7009

Časopis

Advances in Applied Clifford Algebras

Ročník

30

Číslo

1

Strany od–do

1–21

Počet stran

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"
}