Local Control of (4,5,7,8-10)-Filtration Snake Robot via CGA
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Date
Authors
Hrdina, Jaroslav
Navrat, Ales
Vasik, Petr
Matousek, Radomil
Advisor
Referee
Mark
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Institute of Automation and Computer Science, Brno University of Technology
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Abstract
We describe the local control of a (6{8){link snake like robot endowed with omnidirectional wheels on two links (head and tail). All calculations including the position, direct kinematics, di erential kinematics and inverse kinematics are described in the terms of CGA only.
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Citation
Mendel. 2017 vol. 23, č. 1, s. 157-162. ISSN 1803-3814
https://mendel-journal.org/index.php/mendel/article/view/67
https://mendel-journal.org/index.php/mendel/article/view/67
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Peer-reviewed
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en