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Motion planning for kinematic stratified systems with application to quasi-static legged locomotion and finger gaiting

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2 Author(s)
B. Goodwine ; Dept. of Aerosp. & Mech. Eng., Notre Dame Univ., IN, USA ; J. W. Burdick

We present a general motion planning algorithm for robotic systems with a "stratified" configuration space. Such systems include quasi-static legged robots and kinematic models of object manipulation by finger repositioning. Our method is an extension of a nonlinear motion planning algorithm for smooth systems to the stratified case, where the relevant dynamics are not smooth. The method does not depend upon the number of legs or fingers; furthermore, it is not based on foot placement or finger placement concepts. Examples demonstrate the method

Published in:

IEEE Transactions on Robotics and Automation  (Volume:18 ,  Issue: 2 )