Detail publikace

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

BYRTUS, R. VAŠÍK, P.

Anglický název

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

Typ

Článek WoS

Jazyk

en

Originální abstrakt

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.

Klíčová slova anglicky

Clifford algebra, Snake robot, Inverse kinematics

Vydáno

2026-01-15

Nakladatel

Elsevier

Časopis

Journal of the Franklin Institute

Ročník

363

Číslo

2

Strany od–do

1–14

Počet stran

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"
}