A Clifford algebra-based algorithm for 3d snake robot kinematics

DOI10.1016/J.JFRANKLIN.2025.108297MaRDI QIDQ6841674zbMATH OpenFDO

Authors Roman Byrtus, Petr Vašík

Publication date 20 March 2026

Published in Journal of the Franklin Institute (Search for Journal in Brave)

Full work available at URL https://doi.org/10.1016/J.JFRANKLIN.2025.108297

zbMATH Keywords

Clifford algebrageometric control theoryinverse kinematicssnake robot

Mathematics Subject Classification ID

Robot dynamics and control of rigid bodies (70E60) Geometric methods (93B27)

Cites work

• CGA-based robotic snake control
• Control of 3-link robotic snake based on conformal geometric algebra
• Local controllability of snake robots based on CRA, theory and practice
• Nilpotent approximation of a trident snake robot controlling distribution.
• On geometric control models of a robotic snake
• Robust pose control of robot manipulators using conformal geometric algebra
• Snake robots. Modelling, mechatronics, and control.
• Survey of new applications of geometric algebra

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