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Controllability of kinematic control systems on stratified configuration spaces

Goodwine, Bill and Burdick, Joel W. (2001) Controllability of kinematic control systems on stratified configuration spaces. IEEE Transactions on Automatic Control, 46 (3). pp. 358-368. ISSN 0018-9286. http://resolver.caltech.edu/CaltechAUTHORS:GOOieeetac01

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Abstract

This paper considers nonlinear kinematic controllability of a class of systems called stratified. Roughly speaking, such stratified systems have a configuration space which can be decomposed into submanifolds upon which the system has different sets of equations of motion. For such systems, considering controllability is difficult because of the discontinuous form of the equations of motion. The main result in this paper is a controllability test, analogous to Chow's theorem, is based upon a construction involving distributions, and the extension thereof to robotic gaits.


Item Type:Article
Additional Information:© Copyright 2001 IEEE. Reprinted with permission. Manuscript received August 20, 1998; revised March 1, 2000 and July 28, 2000. Recommended by Associate Editor O. Egeland. This work was supported by a grant from the Office of Naval Research. The authors would like to thank the many helpful comments and remarks from an anonymous reviewer.
Subject Keywords:controllability; legged locomotion; robot control; stratified systems; trajectory generation; mechanical systems; locomotion
Record Number:CaltechAUTHORS:GOOieeetac01
Persistent URL:http://resolver.caltech.edu/CaltechAUTHORS:GOOieeetac01
Alternative URL:http://dx.doi.org/10.1109/9.911414
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:2164
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:13 Mar 2006
Last Modified:26 Dec 2012 08:47

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