On geometric control models of a robotic snake

DOI10.1285/I15900932V37SUPPL1P119MaRDI QIDQ4637748zbMATH OpenOpenAlexFDO

Authors Aleš Návrat, Petr Vašík

Publication date 25 April 2018

Full work available at URL http://siba-ese.unile.it/index.php/notemat/article/view/17178/14695

zbMATH Keywords

local controlrobotic snake

Mathematics Subject Classification ID

Geometric methods (93B27) Automated systems (robots, etc.) in control theory (93C85)

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Cites work

• Control of 3-link robotic snake based on conformal geometric algebra
• Control of nonholonomic systems: from sub-Riemannian geometry to motion planning
• Geometric Fundamentals of Robotics
• scientific article; zbMATH DE number 821258 (Why is no real title available?)
• Nilpotent approximation of a trident snake robot controlling distribution.
• Snake robots. Modelling, mechatronics, and control.

Cited in

(20)

• Synchronization of dynamical systems on Riemannian manifolds by an extended PID-type control theory: numerical evaluation
• Adaptive robust control for planar snake robots
• Local controllability of snake robots based on CRA, theory and practice
• CGA-based robotic snake control
• Geometric control of the trident snake robot based on CGA
• Snakes and articulated arms in an Hilbert space
• scientific article; zbMATH DE number 6610850 (Why is no real title available?)
• A Fibonacci control system with application to hyper-redundant manipulators
• Control of 3-link robotic snake based on conformal geometric algebra
• Snake robots. Modelling, mechatronics, and control.
• scientific article; zbMATH DE number 2061441 (Why is no real title available?)
• Nilpotent approximation of a trident snake robot controlling distribution.
• Local controllability of trident snake robot based on sub-Riemannian extremals
• A unified dynamic model for locomotion and manipulation of a snake-like robot based on differential geometry
• Extension of PID regulators to dynamical systems on smooth manifolds (M-PID)
• A Nonholonomic Model and Complete Controllability of a Three-Link Wheeled Snake Robot
• Local control of 2-link robotic worms based on additional symmetries
• A Clifford algebra-based algorithm for 3d snake robot kinematics
• Modeling and optimal torque control of a snake-like robot based on the fiber bundle theory
• Möbius transformations and the configuration space of a Hilbert snake

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