TY - JOUR AU - Jaroslav Hrdina AU - Ales Navrat AU - Petr Vasik AU - Radomil Matousek PY - 2017/06/01 Y2 - 2024/03/28 TI - Local Control of (4,5,7,8-10)-Filtration Snake Robot via CGA JF - MENDEL JA - mendel VL - 23 IS - 1 SE - Research articles DO - 10.13164/mendel.2017.1.157 UR - https://mendel-journal.org/index.php/mendel/article/view/67 AB - 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. ER -