Quasi-static legged locomotors as nonholonomic systems

IEEE International Conference on Intelligent Robots and Systems

Volumn 1, Issue , 2000, Pages 817-825

  Burdick, Joel Burdick ^a   Goodwine, Bill ^b  

^a CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

^b University of Notre Dame   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

ALGORITHMS; CONTROL THEORY; CONTROLLABILITY; DEGREES OF FREEDOM (MECHANICS);

NONHOLONOMIC SYSTEMS; QUASI-STATIC LEGGED LOCOMOTORS;

MOTION PLANNING;

EID: 0034449838     PISSN: None     EISSN: None     Source Type: Journal    
DOI: 10.1109/IROS.2000.894705     Document Type: Article

References (15)

1. Gait controllability for legged robots
2. Controllability of kinematic systems on stratified configuration spaces
3. A differential geometric approach to motion planning
4. Nonholonomic motion planning: Steering using sinusoids
5. Study of dynamic biped locomotion on rugged terrain
6. Path planning and gait of walking machine in an obstacle-strewn environment
7. Modeling the dynamics of quadrupedal running
8. Motion planning for kinematic stratified systems with application to quasi-static legged locomotion and finger gaiting