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

DOI10.1007/s00006-015-0621-2zbMath1394.93209MaRDI 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 algebra; conformal geometric algebra; nonholonomic mechanics; bionics; local controllability; mathematics robotic; snake robots

Mathematics Subject Classification ID

93C10: Nonlinear systems in control theory

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

70E60: Robot dynamics and control of rigid bodies

15A66: Clifford algebras, spinors

Uses Software

• CLUCalc