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

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dc.contributor.authorByrtus, Romancs
dc.contributor.authorVašík, Petrcs
dc.coverage.issue2cs
dc.coverage.volume363cs
dc.date.issued2026-01-15cs
dc.description.abstractWe 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.en
dc.formattextcs
dc.format.extent1-14cs
dc.format.mimetypeapplication/pdfcs
dc.identifier.citationJournal of the Franklin Institute. 2026, vol. 363, issue 2, p. 1-14.en
dc.identifier.doi10.1016/j.jfranklin.2025.108297cs
dc.identifier.issn0016-0032cs
dc.identifier.orcid0000-0002-7452-0573cs
dc.identifier.orcid0000-0001-6725-7378cs
dc.identifier.other200016cs
dc.identifier.researcheridM-4620-2016cs
dc.identifier.scopus36761783000cs
dc.identifier.urihttp://hdl.handle.net/11012/255831
dc.language.isoencs
dc.publisherElseviercs
dc.relation.ispartofJournal of the Franklin Institutecs
dc.relation.urihttps://www.sciencedirect.com/science/article/pii/S0016003225007896cs
dc.rightsCreative Commons Attribution-NonCommercial-NoDerivatives 4.0 Internationalcs
dc.rights.accessopenAccesscs
dc.rights.sherpahttp://www.sherpa.ac.uk/romeo/issn/0016-0032/cs
dc.rights.urihttp://creativecommons.org/licenses/by-nc-nd/4.0/cs
dc.subjectClifford algebraen
dc.subjectSnake roboten
dc.subjectInverse kinematicsen
dc.titleA clifford algebra-based algorithm for 3D snake robot kinematicsen
dc.type.driverarticleen
dc.type.statusPeer-revieweden
dc.type.versionpublishedVersionen
eprints.grantNumberinfo:eu-repo/grantAgreement/MSM/EH/EH23_020/0008528cs
sync.item.dbidVAV-200016en
sync.item.dbtypeVAVen
sync.item.insts2026.02.10 13:54:03en
sync.item.modts2026.02.10 13:32:27en
thesis.grantorVysoké učení technické v Brně. Fakulta strojního inženýrství. Ústav matematikycs

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