Title :
Quasi-static legged locomotors as nonholonomic systems
Author :
Burdick, Joel ; Goodwine, Bill
Author_Institution :
Dept. of Mech. Eng., California Inst. of Technol., Pasadena, CA, USA
Abstract :
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
Keywords :
controllability; intelligent control; legged locomotion; motion control; path planning; controllability issues; foot placement; legged quasi-static locomotion; minimalist legged systems; motion planning; motion planning algorithm; nonholonomic systems; quasi-static legged locomotors; stratified configuration spaces; stratified control theory; stratified systems; Controllability; Foot; Kinematics; Leg; Legged locomotion; Mechanical engineering; Motion control; Orbital robotics; Robots; Vehicles;
Conference_Titel :
Intelligent Robots and Systems, 2000. (IROS 2000). Proceedings. 2000 IEEE/RSJ International Conference on
Conference_Location :
Takamatsu
Print_ISBN :
0-7803-6348-5
DOI :
10.1109/IROS.2000.894705
