Published November 2000
| Published
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Quasi-static legged locomotors as nonholonomic systems
- Creators
- Burdick, Joel
- Goodwine, Bill
Chicago
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Abstract
We show how motion planning and control ideas for smooth nonholonomic systems can be extended to legged quasi-static locomotion via the notion of "stratified" configuration spaces and "stratified" control theory. We particularly consider "minimalist" legged systems, which are not well handled by conventional theories based on foot placement. We briefly discuss controllability issues, and then present a motion planning algorithm for stratified systems. The method does not depend upon the number of legs, nor is it based on foot placement concepts.
Additional Information
© 2000 IEEE. This work was partially supported by the National Science Foundation through an Engineering Research Center grant, and a grant from the Office of Naval Research.Attached Files
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Additional details
- Eprint ID
- 96665
- Resolver ID
- CaltechAUTHORS:20190624-112003261
- NSF
- Office of Naval Research (ONR)
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2019-06-24Created from EPrint's datestamp field
- Updated
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2021-11-16Created from EPrint's last_modified field