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International Conference on Modelling and Simulation for Autonomous Systems

MESAS 2018: Modelling and Simulation for Autonomous Systems pp 27–42Cite as

Trident Snake Robot Motion Simulation in V-Rep

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Part of the book series: Lecture Notes in Computer Science ((LNISA,volume 11472))

Abstract

We present a simulation of a trident snake robot motion in two local control models, the original one and its nilpotent approximation. More precisely, we derive the control system from the kinematics of a trident snake robot, calculate its nilpotent approximation and compare these two models by simulating their local motion planning in software V-Rep.

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References

  1. Coppelia Robotics: V-REP User Manual. http://www.coppeliarobotics.com/helpFiles/

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Acknowledgement

The first author was supported by a grant of the Czech Science Foundation (GAČR) no. 17–21360S. The second author was supported by a grant no. FSI-S-17-4464.

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Authors and Affiliations

  1. Faculty of Mechanical Engineering, Brno University of Technology, Brno, Czech Republic

    Roman Byrtus & Jana Vechetová

Authors
  1. Roman Byrtus
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  2. Jana Vechetová
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Corresponding author

Correspondence to Jana Vechetová .

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Editors and Affiliations

  1. NATO Modelling and Simulation Centre of Excellence, Rome, Italy

    Jan Mazal

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Byrtus, R., Vechetová, J. (2019). Trident Snake Robot Motion Simulation in V-Rep. In: Mazal, J. (eds) Modelling and Simulation for Autonomous Systems. MESAS 2018. Lecture Notes in Computer Science(), vol 11472. Springer, Cham. https://doi.org/10.1007/978-3-030-14984-0_3

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  • DOI: https://doi.org/10.1007/978-3-030-14984-0_3

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-030-14983-3

  • Online ISBN: 978-3-030-14984-0

  • eBook Packages: Computer ScienceComputer Science (R0)

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