Trajectory generation for kinematic legged robots

Goodwine, Bill and Burdick, Joel (1997) Trajectory generation for kinematic legged robots. In: 1997 Proceedings of International Conference on Robotics and Automation. Vol.3. IEEE , Piscataway, NJ, pp. 2689-2696. ISBN 0-7803-3612-7. https://resolver.caltech.edu/CaltechAUTHORS:20190621-134718090

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Abstract

We present a general trajectory generation scheme for a class of "kinematic" legged robots. The method does not depend upon the number of legs, nor is it based on foot placement concepts. Instead, our method is based on an extension of a nonlinear trajectory generation algorithm for smooth systems to the legged case, where the relevant mechanics are not smooth. Our extension is based on the realization that legged robot configuration spaces are stratified. The algorithm is illustrated with a simple example.

Item Type:

Book Section

Related URLs:

URL	URL Type	Description
https://doi.org/10.1109/ROBOT.1997.619367	DOI	Article

Additional Information:

Funders:

Funding Agency	Grant Number
Office of Naval Research (ONR)	UNSPECIFIED

DOI:

10.1109/ROBOT.1997.619367

Record Number:

CaltechAUTHORS:20190621-134718090

Persistent URL:

https://resolver.caltech.edu/CaltechAUTHORS:20190621-134718090

Official Citation:

B. Goodwine and J. Burdick, "Trajectory generation for kinematic legged robots," Proceedings of International Conference on Robotics and Automation, Albuquerque, NM, USA, 1997, pp. 2689-2696 vol.3. doi: 10.1109/ROBOT.1997.619367

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No commercial reproduction, distribution, display or performance rights in this work are provided.

ID Code:

96630

Collection:

CaltechAUTHORS

Deposited By:

Tony Diaz

Deposited On:

23 Jun 2019 14:28

Last Modified:

16 Nov 2021 17:22

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