%0 Journal Article
%T On geometric control models of a robotic snake
%A Ale£¿ N¨¢vrat
%A Petr Va£¿¨ªk
%J -
%D 2017
%R DOI Code: 10.1285/i15900932v37suppl1p119
%X We present three possible ways of controlling a robotic system called a 3-link snake robot. First, we recall the classical approach by constructing the controlling vector fields and their Lie brackets. Next we modify the coordinate system in order to obtain a nilpotent approximation of the controlling distribution. This is based on the notions of sub-Riemannian geometry. The third model is based on serpenoid curve and maintains the global control task
%K robotic snake
%K local control
%U http://siba-ese.unisalento.it/index.php/notemat/article/view/17178