A fast and adaptive test of static equilibrium for legged robots

Proceedings - IEEE International Conference on Robotics and Automation

Volumn 2006, Issue , 2006, Pages 1109-1116

  Bretl, Timothy ^a   Lall, Sanjay ^b  

^a Stanford University   (United States)

^b 496 Lomita Mall   (United States)

Author keywords

[No Author keywords available]

Indexed keywords

CONTACT FORCES; SAFE MOTIONS; SUPPORT POLYGON;

ALGORITHMS; BIOMECHANICS; CONSTRAINT THEORY;

ROBOTS;

EID: 33845599162     PISSN: 10504729     EISSN: None     Source Type: Conference Proceeding    
DOI: 10.1109/ROBOT.2006.1641858     Document Type: Conference Paper

References (22)

1. R. B. McGhee and G. I. Iswandhi, "Adaptive locomotion of a multilegged robot over rough terrain," IEEE Trans. Syst., Man, Cybern., vol. SMC-9, no. 4, pp. 176-182, 1979.
2. D. Wettergreen, "Robotic walking in natural terrain," Ph.D. dissertation, Carnegie Mellon University, 1995.
3. S.-M. Song and K. J. Waldron, Machines that walk: the adaptive suspension vehicle. Cambridge, MA: The MIT Press, 1989.
4. J. Chestnutt, J. Kuffner, K. Nishiwaki, and S. Kagami, "Planning biped navigation strategies in complex environments," in IEEE Int. Conf. Hum. Rob., Munich, Germany, 2003.
5. J. J. Kuffner, Jr., K. Nishiwaki, S. Kagami, M. Inaba, and H. Inoue, "Motion planning for humanoid robots," in Int. Symp. Rob. Res., Siena, Italy, 2003.
6. K. Harada, S. Kajita, H. Saito, F. Kanehiro, and H. Hirukawa, "Integration of manipulation and locomotion by a humanoid robot," in Int. Symp. Exp. Rob., Singapore, 2004.
7. T. Bretl, "Motion planning of multi-limbed robots subject to equilibrium constraints: The free-climbing robot problem," to appear in Int. J. Rob. Res., 2006.
8. M. J. Todd, "The many facets of linear programming," Mathematical Programming, vol. 91, no. 3, pp. 417-436, 2002.
9. S. Boyd and L. Vandenberghe, Convex Optimization. Cambridge University Press, 2004.
10. H. Edelsbrunner, Algorithms in Combinatorial Geometry, ser. Monographs in Theoretical Computer Science. New York, NY: Springer-Verlag, 1987, vol. 10.
11. G. M. Ziegler, Lectures on Polytopes, ser. Graduate texts in mathematics. Springer-Verlag, 1995, vol. 152, revised first edition 1998.
12. L. E. Kavraki, P. Svetska, J.-C. Latombe, and M. Overmars, "Probabilistic roadmaps for path planning in high-dimensional configuration spaces," IEEE Trans. Robot. Automat., vol. 12, no. 4, pp. 566-580, 1996.
13. H. Choset, K. Lynch, S. Hutchinson, G. Kanto, W. Burgard, L. Kavraki, and S. Thrun, Principles of Robot Motion: Theory, Algorithms, and Implementations. MIT Press, 2005.
14. M. Buss, H. Hashimoto, and J. B. Moore, "Dextrous hand grasping force optimization," IEEE Trans. Robot. Automat., vol. 12, no. 3, pp. 406-418, 1996.
15. M. S. Lobo, L. Vandenberghe, S. Boyd, and H. Lebret, "Applications of second-order cone programming," Linear Algebra and its Applications, vol. 284, pp. 193-228, 1998, special Issue on Linear Algebra in Control, Signals, and Image Processing.
16. L. Han, J. C. Trinkle, and Z. X. Li, "Grasp analysis as linear matrix inequality problems," IEEE Trans. Robot. Automat., vol. 16, no. 6, pp. 663-674, 2000.
17. G. B. Dantzig and B. C. Eaves, "Fourier-Motzkin elimination and its dual," J. Combinatorial Theory, vol. 14, pp. 288-297, 1973.
18. K. Fukuda and A. Prodon, "Double description method revisited," LNCS, vol. 1120, pp. 91-111, 1996.
19. C. B. Barber, D. P. Dobkin, and H. Huhdanpaa, "The quickhull algorithm for convex hulls," ACM Transactions on Mathematical Software, vol. 22, no. 4, pp. 469-483, 1996.
20. D. Bremner, K. Fukuda, and A. Marzetta, "Primal-dual methods for vertex and facet enumeration," in ACM Sympos. Comput. Geom., Nice, France, 1997, pp. 49-56.
21. J. Ponce, S. Sullivan, A. Sudsang, J.-D. Boissonnat, and J.-P. Merlet, "On computing four-finger equilibrium and force-closure grasps of polyhedral objects," Int. J. Rob. Res., vol. 16, no. 1, pp. 11-35, 1997.
22. M. Joswig, "Beneath-and-beyond revisited," in Algebra, Geometry, and Software Systems, M. Joswig and N. Takayama, Eds. Springer, 2003, pp. 1-21.