Gait controllability for legged robots

Goodwine, Bill and Burdick, Joel (1998) Gait controllability for legged robots. In: Proceedings of 1998 IEEE International Conference on Robotics and Automation. Vol.1. IEEE , Piscataway, NJ, pp. 484-489. ISBN 0-7803-4300-X. https://resolver.caltech.edu/CaltechAUTHORS:20190621-160231403

PDF - Published Version
See Usage Policy.
628kB

Use this Persistent URL to link to this item: https://resolver.caltech.edu/CaltechAUTHORS:20190621-160231403

Abstract

We present a general method for determining controllability of a class of kinematic legged robots. The method is general in that it is independent of the robot's morphology; in particular, it does not depend upon the number of legs. Our method is based on an extension of a nonlinear controllability test 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 result is illustrated with a simple example.

Item Type:

Book Section

Related URLs:

URL	URL Type	Description
https://doi.org/10.1109/ROBOT.1998.677021	DOI	Article

Additional Information:

Funders:

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

DOI:

10.1109/ROBOT.1998.677021

Record Number:

CaltechAUTHORS:20190621-160231403

Persistent URL:

https://resolver.caltech.edu/CaltechAUTHORS:20190621-160231403

Official Citation:

B. Goodwine and J. Burdick, "Gait controllability for legged robots," Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146), Leuven, Belgium, 1998, pp. 484-489 vol.1. doi: 10.1109/ROBOT.1998.677021

Usage Policy:

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

ID Code:

96643

Collection:

CaltechAUTHORS

Deposited By:

Tony Diaz

Deposited On:

22 Jun 2019 18:18

Last Modified:

16 Nov 2021 17:22

Repository Staff Only: item control page