Local controllability of snake robots based on CRA, theory and practice

DOI10.1007/S00006-019-1022-8MaRDI QIDQ2301501zbMATH OpenOpenAlexWikidataFDO

Authors Dietmar Hildenbrand, Jaroslav Hrdina, Aleš Návrat, Petr Vašík

Publication date 24 February 2020

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

Full work available at URL https://doi.org/10.1007/s00006-019-1022-8

zbMATH Keywords

Clifford algebrasconformal geometric algebraconformal geometrylinearization

Mathematics Subject Classification ID

Kinematics of mechanisms and robots (70B15) Robot dynamics and control of rigid bodies (70E60)

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Cites work

• Control of 3-link robotic snake based on conformal geometric algebra
• Efficient implementation of inverse kinematics on a 6-DOF industrial robot using conformal geometric algebra
• Foundations of geometric algebra computing.
• Geometric algebra with applications in engineering
• Geometric control of the trident snake robot based on CGA
• scientific article; zbMATH DE number 6903529 (Why is no real title available?)
• scientific article; zbMATH DE number 821258 (Why is no real title available?)
• Snake robots. Modelling, mechatronics, and control.

Cited in

(16)

• Quantum computing based on complex Clifford algebras
• New applications of Clifford's geometric algebra
• CGA-based robotic snake control
• Geometric control of the trident snake robot based on CGA
• A Fibonacci control system with application to hyper-redundant manipulators
• Control of 3-link robotic snake based on conformal geometric algebra
• Local controllability of trident snake robot based on sub-Riemannian extremals
• Local control of 2-link robotic worms based on additional symmetries
• Self-calibration method of binocular vision based on conformal geometric algebra
• Current survey of Clifford geometric algebra applications
• Notes on forward kinematics of generalised robotic snakes based on compass ruler algebra
• Manipulability analysis of a snake robot without lateral constraint for head position control
• Higher order geometric algebras and their implementations using Bott periodicity
• A Clifford algebra-based algorithm for 3d snake robot kinematics
• Quadratic programming problem in power system engineering based on projective geometric algebra
• Notes on the losses compensation of a three-phase power system with DC offset based on geometric algebras

Describes a project that uses

Uses Software

• Gaalop
• Gaigen
• CLUCalc

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