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Stratified motion planning on non-smooth domains with application to robotic legged locomotion and manipulation

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

Presents an extension of the authors' previous 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 includes motion planning for legged robots over non-smooth (but known) terrain and manipulation of non-smooth objects with multiple robotic manipulators.

Published in:

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on  (Volume:4 )

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