Work

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

Year: 2025

Type: article

Abstract: 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.

Source: Journal of the Franklin Institute

DOI: 10.1016/j.jfranklin.2025.108297

Authors: Roman Byrtus, Petr Vašík

Institution: Brno University of Technology

Language: English

Topic: Robotic Mechanisms and Dynamics

Subfield: Control and Systems Engineering

Field: Engineering

Domain: Physical Sciences

Open Access status: hybrid

Estimated APC paid: $3,100

Funder: Ministerstvo Školství, Mládeže a Tělovýchovy