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Quasi-static legged locomotors as nonholonomic systems

Burdick, Joel and Goodwine, Bill (2000) Quasi-static legged locomotors as nonholonomic systems. In: Proceedings of the 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems. Vol.1. IEEE , Piscataway, NJ, pp. 817-825. ISBN 0-7803-6348-5.

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We show how motion planning and control ideas for smooth nonholonomic systems can be extended to legged quasi-static locomotion via the notion of "stratified" configuration spaces and "stratified" control theory. We particularly consider "minimalist" legged systems, which are not well handled by conventional theories based on foot placement. We briefly discuss controllability issues, and then present a motion planning algorithm for stratified systems. The method does not depend upon the number of legs, nor is it based on foot placement concepts.

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Additional Information:© 2000 IEEE. This work was partially supported by the National Science Foundation through an Engineering Research Center grant, and a grant from the Office of Naval Research.
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Office of Naval Research (ONR)UNSPECIFIED
Record Number:CaltechAUTHORS:20190624-112003261
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Official Citation:J. Burdick and B. Goodwine, "Quasi-static legged locomotors as nonholonomic systems," Proceedings. 2000 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2000) (Cat. No.00CH37113), Takamatsu, Japan, 2000, pp. 817-825 vol.1. doi: 10.1109/IROS.2000.894705
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:96665
Deposited By: Tony Diaz
Deposited On:24 Jun 2019 18:32
Last Modified:16 Nov 2021 17:22

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