Geometric control of the trident snake robot based on CGA

DOI10.1007/s00006-016-0693-7zbMath1364.93149MaRDI QIDQ2361062

Jaroslav Hrdina, Aleš Návrat, Petr Vašík, R. Matoušek

Publication date: 29 June 2017

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

Full work available at URL: https://doi.org/10.1007/s00006-016-0693-7

zbMATH Keywords

Clifford algebra; conformal geometric algebra; nonholonomic mechanics; bionics; local controllability; mathematical robotics

Mathematics Subject Classification ID

93B05: Controllability

93C10: Nonlinear systems in control theory

93B27: Geometric methods

93C85: Automated systems (robots, etc.) in control theory

15A66: Clifford algebras, spinors

70F25: Nonholonomic systems related to the dynamics of a system of particles

Uses Software

• Gaigen
• CLUCalc