Papers
8
Total Citations
123
H-Index
6
About
Jaroslav Hrdina’s research lies at the intersection of geometric algebra and robotic control, where he has pioneered the application of conformal geometric algebra (CGA) to the locomotion of snake-like and worm-like robots. His most influential work, “CGA-based robotic snake control” (2016, 37 citations), and its companion paper on the 3-link robotic snake (2015, 32 citations), introduced a unified mathematical framework for modeling and controlling these hyper-redundant systems. By leveraging CGA’s ability to represent points, lines, planes, and volumes in a single algebraic structure, Hrdina developed novel methods for solving inverse kinematics and local controllability problems—most notably for the trident snake robot, where he used sub-Riemannian extremals and nilpotent approximations to address nonholonomic constraints. His 2024 paper on the resection problem further extends CGA to classical geometric tasks in two and three dimensions. With over 120 total citations, Hrdina’s work has established geometric algebra as a powerful tool for roboticists, offering elegant, coordinate-free solutions to complex control challenges. His contributions are essential reading for anyone interested in the mathematical foundations of nonholonomic robotics.
Research Focus
Key Achievements
Top Papers
- 1CGA-based robotic snake control37 citations · 2016
- 2Control of 3-Link Robotic Snake Based on Conformal Geometric Algebra32 citations · 2015
- 3Geometric Control of the Trident Snake Robot Based on CGA20 citations · 2016
- 4Local Controllability of Snake Robots Based on CRA, Theory and Practice13 citations · 2019
- 5Notes on Planar Inverse Kinematics Based on Geometric Algebra10 citations · 2018
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- 8Local control of 2-link robotic worms based on additional symmetries1 citations · 2023