CaltechAUTHORS
  A Caltech Library Service

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

[img] PDF - Published Version
See Usage Policy.

807Kb

Use this Persistent URL to link to this item: https://resolver.caltech.edu/CaltechAUTHORS:20190621-134718090

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:
URLURL TypeDescription
https://doi.org/10.1109/ROBOT.1997.619367DOIArticle
Additional Information:© 1997 IEEE. This work was partially supported by a grant from the Office of Naval Research.
Funders:
Funding AgencyGrant Number
Office of Naval Research (ONR)UNSPECIFIED
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

Repository Staff Only: item control page