Published April 2002
| Published
Journal Article
Open
Motion planning for kinematic stratified systems with application to quasi-static legged locomotion and finger gaiting
- Creators
- Goodwine, Bill
- Burdick, Joel W.
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.
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.Attached Files
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Additional details
- Eprint ID
- 96636
- Resolver ID
- CaltechAUTHORS:20190621-144511382
- Office of Naval Research (ONR)
- Created
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2019-06-22Created from EPrint's datestamp field
- Updated
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2021-11-16Created from EPrint's last_modified field