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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.

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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.

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Additional Information:© 1998 IEEE. This research was partially supported by the Office of Naval Research.
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Office of Naval Research (ONR)UNSPECIFIED
Record Number:CaltechAUTHORS:20190621-160231403
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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
Deposited By: Tony Diaz
Deposited On:22 Jun 2019 18:18
Last Modified:16 Nov 2021 17:22

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