Local Control of (4,5,7,8-10)-Filtration Snake Robot via CGA
We describe the local control of a (6{8){link snake like robot endowed with omnidirectional wheels on two links (head and tail). All calculations including the position, direct kinematics, di erential kinematics and inverse kinematics are described in the terms of CGA only.
| Main Authors: | , , , |
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| Format: | Article |
| Language: | English |
| Published: |
Brno University of Technology
2017-06-01
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| Series: | Mendel |
| Subjects: | |
| Online Access: | https://mendel-journal.org/index.php/mendel/article/view/67 |
| _version_ | 1798017360391569408 |
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| author | Jaroslav Hrdina Ales Navrat Petr Vasik Radomil Matousek |
| author_facet | Jaroslav Hrdina Ales Navrat Petr Vasik Radomil Matousek |
| author_sort | Jaroslav Hrdina |
| collection | DOAJ |
| description | We describe the local control of a (6{8){link snake like robot endowed with omnidirectional wheels on two links (head and tail). All calculations including the position, direct kinematics, di erential kinematics and inverse kinematics are described in the terms of CGA only. |
| first_indexed | 2024-04-11T16:05:57Z |
| format | Article |
| id | doaj.art-376e99c460644f4db3db55d66f2f1515 |
| institution | Directory Open Access Journal |
| issn | 1803-3814 2571-3701 |
| language | English |
| last_indexed | 2024-04-11T16:05:57Z |
| publishDate | 2017-06-01 |
| publisher | Brno University of Technology |
| record_format | Article |
| series | Mendel |
| spelling | doaj.art-376e99c460644f4db3db55d66f2f15152022-12-22T04:14:50ZengBrno University of TechnologyMendel1803-38142571-37012017-06-0123110.13164/mendel.2017.1.15767Local Control of (4,5,7,8-10)-Filtration Snake Robot via CGAJaroslav HrdinaAles NavratPetr VasikRadomil MatousekWe describe the local control of a (6{8){link snake like robot endowed with omnidirectional wheels on two links (head and tail). All calculations including the position, direct kinematics, di erential kinematics and inverse kinematics are described in the terms of CGA only.https://mendel-journal.org/index.php/mendel/article/view/67Robotic snakeconformal geometric algebranonholonomic kinematics |
| spellingShingle | Jaroslav Hrdina Ales Navrat Petr Vasik Radomil Matousek Local Control of (4,5,7,8-10)-Filtration Snake Robot via CGA Mendel Robotic snake conformal geometric algebra nonholonomic kinematics |
| title | Local Control of (4,5,7,8-10)-Filtration Snake Robot via CGA |
| title_full | Local Control of (4,5,7,8-10)-Filtration Snake Robot via CGA |
| title_fullStr | Local Control of (4,5,7,8-10)-Filtration Snake Robot via CGA |
| title_full_unstemmed | Local Control of (4,5,7,8-10)-Filtration Snake Robot via CGA |
| title_short | Local Control of (4,5,7,8-10)-Filtration Snake Robot via CGA |
| title_sort | local control of 4 5 7 8 10 filtration snake robot via cga |
| topic | Robotic snake conformal geometric algebra nonholonomic kinematics |
| url | https://mendel-journal.org/index.php/mendel/article/view/67 |
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