Publication detail

Notes on Forward Kinematics of Generalised Robotic Snakes Based on Compass Ruler Algebra

BYRTUS, R. FROLÍK, S.

Original Title

Notes on Forward Kinematics of Generalised Robotic Snakes Based on Compass Ruler Algebra

Type

conference paper

Language

English

Original Abstract

We use conformal transformations in the kinematic chain of a specific planar mechanism. We present two possible ways to describe the configuration of a three link generalised snake robot using compass ruler algebra, which allows us to point out the nature of the generalised snake as an extension of the classic snake robot.

Keywords

Compass ruler algebra; Clifford algebra; Mathematical; robotics; Non-holonomic mechanisms; Snake robots; Forward kinematics

Authors

BYRTUS, R.; FROLÍK, S.

Released

3. 2. 2024

Publisher

SPRINGER INTERNATIONAL PUBLISHING AG

Location

CHAM

ISBN

978-3-031-34031-4

Book

Advanced Computational Applications of Geometric Algebra

ISBN

1611-3349

Periodical

Lecture Notes in Computer Science

Year of study

13771

State

Republic of Italy

Pages from

138

Pages to

146

Pages count

9

URL

https://link.springer.com/chapter/10.1007/978-3-031-34031-4_12

BibTex

@inproceedings{BUT188555,
  author="Roman {Byrtus} and Stanislav {Frolík}",
  title="Notes on Forward Kinematics of Generalised Robotic Snakes Based on Compass Ruler Algebra",
  booktitle="Advanced Computational Applications of Geometric Algebra",
  year="2024",
  journal="Lecture Notes in Computer Science",
  volume="13771",
  pages="138--146",
  publisher="SPRINGER INTERNATIONAL PUBLISHING AG",
  address="CHAM",
  doi="10.1007/978-3-031-34031-4\{_}12",
  isbn="978-3-031-34031-4",
  issn="1611-3349",
  url="https://link.springer.com/chapter/10.1007/978-3-031-34031-4_12"
}