Controllability of kinematic control systems on stratified configuration spaces

IEEE Transactions on Automatic Control

Volumn 46, Issue 3, 2001, Pages 358-368

  Goodwine, Bill ^a   Burdick, Joel W ^b  

^a University of Notre Dame   (United States)

^b California Institute of Technology   (United States)

Author keywords

Controllability; Legged locomotion; Robot control; Stratified systems

Indexed keywords

CONTROL SYSTEM ANALYSIS; CONTROL SYSTEM SYNTHESIS; CONTROLLABILITY; EQUATIONS OF MOTION; KINEMATICS; ROBOTICS;

KINEMATIC CONTROL SYSTEMS; STRATIFIED CONFIGURATION SPACES;

NONLINEAR CONTROL SYSTEMS;

EID: 0035279176     PISSN: 00189286     EISSN: None     Source Type: Journal    
DOI: 10.1109/9.911414     Document Type: Article

References (29)

1. Topology of hybrid systems
2. Analysis of continuous switching systems: Theory and examples
3. Smooth multimode control system
4. Hybrid models for motion control systems
5. Dynamical systems and their associated automata
6. On tracking control of a class of complementary-slackness hybrid mechanical systems
7. On the control of finite-dimensional mechanical systems with unilateral constraints
8. Complementary-slackness class of hybrid systems
9. Complementarity modeling of hybrid systems
10. Trajectory generation for kinematic legged robots
11. Study of dynamic biped locomotion on ragged terrain
12. Geometric phases and robotic locomotion
13. G-snakes: Nonholonomic kinematic chains on Lie groups
14. Path planning and gait of walking machine in an obstacle-strewn environment
15. Nilpotent bases for a class of nonintegratable distributions with applications to trajectory generation for nonholonomic systems
16. The mechanics of undulatory locomotion: The mixed dynamic and kinematic case
17. A general theorem on local controllability