Local Control of (4,5,7,8-10)-Filtration Snake Robot via CGA

  • Jaroslav Hrdina
  • Ales Navrat
  • Petr Vasik
  • Radomil Matousek
Keywords: Robotic snake, conformal geometric algebra, nonholonomic kinematics

Abstract

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.

References

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Published
2017-06-01
How to Cite
[1]
Hrdina, J., Navrat, A., Vasik, P. and Matousek, R. 2017. Local Control of (4,5,7,8-10)-Filtration Snake Robot via CGA. MENDEL. 23, 1 (Jun. 2017), 157-162. DOI:https://doi.org/10.13164/mendel.2017.1.157.
Section
Articles