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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.

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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.

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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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Office of Naval Research (ONR)UNSPECIFIED
Record Number:CaltechAUTHORS:20190621-134718090
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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
Deposited By: Tony Diaz
Deposited On:23 Jun 2019 14:28
Last Modified:16 Nov 2021 17:22

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