CGA-Based Snake Robot Control Models	

Roman Byrtus --	Brno University of Technology	

The snake robot is a mechanism composing of links equipped with passive wheels connected by actuated joints whose movement is based on the locomotion of biological snakes. Planar control models have been obtained before, usually by means of differential geometry or geometric algebra. We present an extension of the CGA planar model to the full 3D case using CGA. A quick introduction to the 2D CGA model is given. A planar model is created using 3D CGA, whose geometry is then exploited in order to formulate the full 3D model. Two parametrisations of the joints' rotations as rotors are proposed and then utilised in the model's construction. The models are verified using simulations.