Published March 2001
| public
Journal Article
Open
Controllability of kinematic control systems on stratified configuration spaces
- Creators
- Goodwine, Bill
- Burdick, Joel W.
Abstract
This paper considers nonlinear kinematic controllability of a class of systems called stratified. Roughly speaking, such stratified systems have a configuration space which can be decomposed into submanifolds upon which the system has different sets of equations of motion. For such systems, considering controllability is difficult because of the discontinuous form of the equations of motion. The main result in this paper is a controllability test, analogous to Chow's theorem, is based upon a construction involving distributions, and the extension thereof to robotic gaits.
Additional Information
© 2001 IEEE. Reprinted with permission. Manuscript received August 20, 1998; revised March 1, 2000 and July 28, 2000. Recommended by Associate Editor O. Egeland. This work was supported by a grant from the Office of Naval Research. The authors would like to thank the many helpful comments and remarks from an anonymous reviewer.Files
GOOieeetac01.pdf
Files
(229.7 kB)
| Name | Size | Download all |
|---|---|---|
|
md5:70a36994ea40184b93036bf1b0393066
|
229.7 kB | Preview Download |
Additional details
- Eprint ID
- 2164
- Resolver ID
- CaltechAUTHORS:GOOieeetac01
- Office of Naval Research (ONR)
- Created
-
2006-03-13Created from EPrint's datestamp field
- Updated
-
2021-11-08Created from EPrint's last_modified field