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 | ||||||
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| Additional Information: | © 1997 IEEE. This work was partially supported by a grant from the Office of Naval Research. | ||||||
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| 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 | ||||||
| Usage Policy: | 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: | 03 Oct 2019 21:23 |
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