Control of 3-link robotic snake based on conformal geometric algebra

DOI10.1007/S00006-015-0621-2zbMath1394.93209OpenAlexW2234890452MaRDI QIDQ331645

Jaroslav Hrdina, Aleš Návrat, Petr Vašík

Publication date: 27 October 2016

Published in: Advances in Applied Clifford Algebras (Search for Journal in Brave)

Full work available at URL: https://doi.org/10.1007/s00006-015-0621-2

zbMATH Keywords

Clifford algebraconformal geometric algebranonholonomic mechanicsbionicslocal controllabilitymathematics roboticsnake robots

Mathematics Subject Classification ID

Nonlinear systems in control theory (93C10) Automated systems (robots, etc.) in control theory (93C85) Robot dynamics and control of rigid bodies (70E60) Clifford algebras, spinors (15A66)

Related Items (9)

Notes on planar inverse kinematics based on geometric algebra ⋮ Projective geometric algebra as a subalgebra of conformal geometric algebra ⋮ Symmetries in geometric control theory using Maple ⋮ A Nonholonomic Model and Complete Controllability of a Three-Link Wheeled Snake Robot ⋮ Local control of 2-link robotic worms based on additional symmetries ⋮ Binocular computer vision based on conformal geometric algebra ⋮ Analytical mobility analysis of Bennett linkage using geometric algebra ⋮ Local controllability of snake robots based on CRA, theory and practice ⋮ On geometric control models of a robotic snake

Uses Software

• CLUCalc

Cites Work

• Unnamed Item
• Snake robots. Modelling, mechatronics, and control.
• Robot perception and handling actions using the conformal geometric algebra framework
• Foundations of geometric algebra computing.
• Robust pose control of robot manipulators using conformal geometric algebra
• Geometric algebra with applications in engineering
• Geometric control of the trident snake robot based on CGA
• Kinematics and grasping using conformal geometric algebra
• Geometric Fundamentals of Robotics

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