A general stance stability test based on stratified morse theory with application to quasi-static locomotion planning

IEEE Transactions on Robotics

Volumn 24, Issue 3, 2008, Pages 626-641

  Rimon, E ^a   Mason, R ^b   Burdick, J W ^c   Or, Y ^a  

^a TECHNION ISRAEL INSTITUTE OF TECHNOLOGY   (Israel)

^b California Institute of Technology   (United States)

^c RAND CORPORATION   (United States)

Author keywords

Posture stability; Quasistatic locomotion; Stance stability; Stratified Morse theory

Indexed keywords

BIOMECHANICS; BIPED LOCOMOTION; PIECEWISE LINEAR TECHNIQUES; REAL TIME SYSTEMS; TESTING; TWO DIMENSIONAL; WAVE FUNCTIONS;

APPLIED (CO); CENTER OF MASS (COM); CONFIGURATION SPACES; CURVATURE (SORI); ENERGY FUNCTIONS; ENHANCED STABILITY; FRICTIONLESS CONTACTS; GENERAL (CO); LEGGED ROBOTS; LOCAL MINIMUMS; MORSE THE ORY; PIECE-WISE LINEAR (PWL); POTENTIAL FIELDS; QUASI STATIC; STABILITY TESTING; SURFACE CURVATURES; SURFACE NORMALS; TWO DIMENSIONS;

SYSTEM STABILITY;

EID: 46649095077     PISSN: 15523098     EISSN: None     Source Type: Journal    
DOI: 10.1109/TRO.2008.919287     Document Type: Article

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