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

Volume

1

fYear

2000

fDate

2000

Firstpage

817

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;

fLanguage

English

Publisher

ieee

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

Type

conf

DOI

10.1109/IROS.2000.894705

Filename

894705