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

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

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