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Geometric algebra-based robotic snake control - Dr.Jaroslav Hrdina


Seminario: 26/09/2017

Lugar: Aula Seminario IOC, Edifici H, planta 11

Hora: 11:00-12:00

Título de la charla: Geometric algebra-based robotic snake control.


Jaroslav Hrdina

Institute of Mathematics.
Faculty of Mechanical Engineering.
Brno University of Technology.
Czech Republic.


Local controllability of an n-link robotic snake with variable wheel positions is solved by means of the conformal geometric algebra, more precisely by the Clifford algebra of signature (3,1). The non-holonomic kinematic equations are assembled, their role in the geometric control theory is discussed and the singular positions are elaborated. Within this paper, we present an alternative model description only, while all its kinematic properties remain.