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Browse Journals & Magazines > Robotics and Automation, IEEE ...> Volume:18 Issue:2 Help

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

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

Date of Publication: Apr 2002

Page(s):
209 - 222
ISSN :
1042-296X
INSPEC Accession Number:
7298468
Digital Object Identifier :
10.1109/TRA.2002.999649
Product Type:
Journals & Magazines
Date of Current Version :
07 August 2002
Issue Date :
Apr 2002
Sponsored by :
IEEE Robotics and Automation Society

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