DocumentCode
1592321
Title
Gait controllability for legged robots
Author
Goodwine, Bill ; Burdick, Joel
Author_Institution
Dept. of Aerosp. & Mech. Eng., Notre Dame Univ., IN, USA
Volume
1
fYear
1998
Firstpage
484
Abstract
We present a general method for determining controllability of a class of kinematic legged robots. The method is general in that it is independent of the robot´s morphology; in particular, it does not depend upon the number of legs. Our method is based on an extension of a nonlinear controllability test for smooth systems to the legged case, where the relevant mechanics are not smooth. Our extension is based on the realization that legged robot configuration spaces are stratified. The result is illustrated with a simple example
Keywords
controllability; legged locomotion; robot kinematics; configuration spaces; gait controllability; kinematic legged robots; nonlinear controllability test; Aerospace engineering; Controllability; Kinematics; Leg; Legged locomotion; Mechanical engineering; Morphology; Nonlinear equations; Orbital robotics; Robots;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 1998. Proceedings. 1998 IEEE International Conference on
Conference_Location
Leuven
ISSN
1050-4729
Print_ISBN
0-7803-4300-X
Type
conf
DOI
10.1109/ROBOT.1998.677021
Filename
677021
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