Notes on forward kinematics of generalised robotic snakes based on compass ruler algebra

DOI10.1007/978-3-031-34031-4_12MaRDI QIDQ6550508zbMATH OpenFDO

Authors Roman Byrtus, Stanislav Frolík

Publication date 5 June 2024

zbMATH Keywords

configuration spaceClifford algebrageometric algebrabivectornon-holonomic mechanismPython-package Clifford

Mathematics Subject Classification ID

Symbolic computation and algebraic computation (68W30) Kinematics of mechanisms and robots (70B15) Nonholonomic systems related to the dynamics of a system of particles (70F25) Applications of Clifford algebras to physics, etc. (15A67)

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Cites work

• CGA-based robotic snake control
• Control of 3-link robotic snake based on conformal geometric algebra
• Foundations of geometric algebra computing.
• Local controllability of snake robots based on CRA, theory and practice

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