CGA-based robotic snake control
The result's identifiers
Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F17%3APU122956" target="_blank" >RIV/00216305:26210/17:PU122956 - isvavai.cz</a>
Result on the web
<a href="https://link.springer.com/article/10.1007/s00006-016-0695-5" target="_blank" >https://link.springer.com/article/10.1007/s00006-016-0695-5</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1007/s00006-016-0695-5" target="_blank" >10.1007/s00006-016-0695-5</a>
Alternative languages
Result language
angličtina
Original language name
CGA-based robotic snake control
Original language description
Local controllability of an n-link robotic snake with variable wheel positions is solved by means of the conformal geometric algebra, more precisely by the Clifford algebra of signature (3, 1). The non-holonomic kinematic equations are assembled, their role in the geometric control theory is discussed and the singular positions are elaborated. Within this paper, we present an alternative model description only, while all its kinematic properties remain.
Czech name
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Czech description
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Classification
Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
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OECD FORD branch
10101 - Pure mathematics
Result continuities
Project
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Continuities
S - Specificky vyzkum na vysokych skolach
Others
Publication year
2017
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů
Data specific for result type
Name of the periodical
ADV APPL CLIFFORD AL
ISSN
0188-7009
e-ISSN
1661-4909
Volume of the periodical
27
Issue of the periodical within the volume
1
Country of publishing house
CH - SWITZERLAND
Number of pages
11
Pages from-to
621-632
UT code for WoS article
000396031500043
EID of the result in the Scopus database
2-s2.0-84973622011