• DocumentCode
    893230
  • Title

    Stratified motion planning on nonsmooth domains with robotic applications

  • Author

    Wei, Yejun ; Goodwine, Bill

  • Author_Institution
    Dept. of Aerosp. & Mech. Eng., Univ. of Notre Dame, IN, USA
  • Volume
    20
  • Issue
    1
  • fYear
    2004
  • Firstpage
    128
  • Lastpage
    132
  • Abstract
    This paper presents an extension of stratified motion planning results to the case where the base manifold upon which the motion planning occurs is not smooth. Robotic applications of this work include motion planning for legged robots over known, nonsmooth terrain and manipulation of nonsmooth objects with multiple robotic manipulators.
  • Keywords
    legged locomotion; manipulator kinematics; multi-robot systems; path planning; control strategy; kinematic systems; legged locomotion; multiple bottom strata; multiple robotic manipulation; nonsmooth domains; stratified motion planning; Algorithm design and analysis; Equations; Fingers; Legged locomotion; Manipulator dynamics; Morphology; Motion analysis; Motion planning; Orbital robotics; Robots;
  • fLanguage
    English
  • Journal_Title
    Robotics and Automation, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    1042-296X
  • Type

    jour

  • DOI
    10.1109/TRA.2003.820874
  • Filename
    1266653
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=893230