A clifford algebra-based algorithm for 3D snake robot kinematics

Result code in IS VaVaI
<a href="https://www.isvavai.cz/riv?ss=detail&h=RIV%2F00216305%3A26210%2F26%3A0200016" target="_blank" >RIV/00216305:26210/26:0200016 - isvavai.cz</a>
Result on the web
<a href="https://www.sciencedirect.com/science/article/pii/S0016003225007896" target="_blank" >https://www.sciencedirect.com/science/article/pii/S0016003225007896</a>
DOI - Digital Object Identifier
<a href="http://dx.doi.org/10.1016/j.jfranklin.2025.108297" target="_blank" >10.1016/j.jfranklin.2025.108297</a>

Result language
angličtina
Original language name
A clifford algebra-based algorithm for 3D snake robot kinematics
Original language description
We present an application of Clifford algebra in the description of the kinematics of nonholonomic mechanisms. In particular, the nonholonomic condition for snake robots is reinterpreted using the conformal geometric algebra (CGA). A dimension-independent algorithm approximating the kinematics of the mechanism is obtained by means of CGA. Using piecewise-constant input, an inverse kinematics algorithm is developed and utilised in a control scheme in three dimensions. The implementation of the algorithm in Python, using the Clifford library, is provided.
Czech name
—
Czech description
—

Type
J<sub>imp</sub> - Article in a specialist periodical, which is included in the Web of Science database
CEP classification
—
OECD FORD branch
10102 - Applied mathematics

Project
<a href="/en/project/EH23_020%2F0008528" target="_blank" >EH23_020/0008528: Innovative Technologies for Smart Low Emission Mobilities</a><br>
Continuities
P - Projekt vyzkumu a vyvoje financovany z verejnych zdroju (s odkazem do CEP)

Publication year
2026
Confidentiality
S - Úplné a pravdivé údaje o projektu nepodléhají ochraně podle zvláštních právních předpisů

Similar results(10)