On geometric control models of a robotic snake

Result code in IS VaVaI

<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F17%3APU123696" target="_blank" >RIV/00216305:26210/17:PU123696 - isvavai.cz</a>

Result on the web

<a href="http://siba-ese.unisalento.it/index.php/notemat/article/view/17178" target="_blank" >http://siba-ese.unisalento.it/index.php/notemat/article/view/17178</a>

DOI - Digital Object Identifier

<a href="http://dx.doi.org/10.1285/i15900932v37suppl1p119" target="_blank" >10.1285/i15900932v37suppl1p119</a>

Result language

angličtina

Original language name

On geometric control models of a robotic snake

Original language description

We present three possible ways of controlling a robotic system called a 3-link snake robot. First, we recall the classical approach by constructing the controlling vector fields and their Lie brackets. Next we modify the coordinate system in order to obtain a nilpotent approximation of the controlling distribution. This is based on the notions of sub-Riemannian geometry. The third model is based on serpenoid curve and maintains the global control task.

Czech name

—

Czech description

—

Type

J_imp - Article in a specialist periodical, which is included in the Web of Science database

CEP classification

—

OECD FORD branch

10101 - Pure mathematics

Project

<a href="/en/project/GA17-21360S" target="_blank" >GA17-21360S: Advances in Snake-like Robot Control</a><br>

Continuities

P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year

2017

Confidentiality

S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Name of the periodical

Note di Matematica

ISSN

1123-2536

e-ISSN

—

Volume of the periodical

37

Issue of the periodical within the volume

Suppl. 1

Country of publishing house

IT - ITALY

Number of pages

11

Pages from-to

119-129

UT code for WoS article

000411156300011

EID of the result in the Scopus database

2-s2.0-85019695913