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Motion planning for kinematic stratified systems with application to quasi-static legged locomotion and finger gaiting

Goodwine, Bill and Burdick, Joel W. (2002) Motion planning for kinematic stratified systems with application to quasi-static legged locomotion and finger gaiting. IEEE Transactions on Robotics and Automation, 18 (2). pp. 209-222. ISSN 1042-296X. https://resolver.caltech.edu/CaltechAUTHORS:20190621-144511382

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Abstract

We present a general motion planning algorithm for robotic systems with a "stratified" configuration space. Such systems include quasi-static legged robots and kinematic models of object manipulation by finger repositioning. Our method is an extension of a nonlinear motion planning algorithm for smooth systems to the stratified case, where the relevant dynamics are not smooth. The method does not depend upon the number of legs or fingers; furthermore, it is not based on foot placement or finger placement concepts. Examples demonstrate the method.


Item Type:Article
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/TRA.2002.999649DOIArticle
Additional Information:© 2002 IEEE. Manuscript received August 24, 2000; revised September 17, 2001. This paper was recommended for publication by Associate Editor P. Allen and Editor I. Walker upon evaluation of the reviewers’ comments. This work was supported in part by a grant from the Office of Naval Research. The authors would like to thank some anonymous reviewers for their helpful and insightful comments.
Funders:
Funding AgencyGrant Number
Office of Naval Research (ONR)UNSPECIFIED
Subject Keywords:Stratified systems, nonlinear motion planning, legged locomotion, robotic manipulation
Issue or Number:2
Record Number:CaltechAUTHORS:20190621-144511382
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190621-144511382
Official Citation:B. Goodwine and J. W. Burdick, "Motion planning for kinematic stratified systems with application to quasi-static legged locomotion and finger gaiting," in IEEE Transactions on Robotics and Automation, vol. 18, no. 2, pp. 209-222, April 2002. doi: 10.1109/TRA.2002.999649
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96636
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:22 Jun 2019 18:21
Last Modified:03 Oct 2019 21:24

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