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Motion Planning for Kinematic Stratified Systems with Application to Quasi-Static Legged Locomotion and Finger Gaiting
| Content Provider | Scilit |
|---|---|
| Author | Goodwine, B. Burdick, J. |
| Copyright Year | 2001 |
| Description | We present a general motion planning algonthm for robotic systems with a “stratified” configuration space. Such systems include quasi-static legged robots and kinematic models of object manipulation by finger repo sitioning. Our method extends 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 fin gers, nor is it based on foot placement or finger place ment concepts. Examples demonstrate the method. Book Name: Algorithmic and Computational Robotics |
| Related Links | https://content.taylorfrancis.com/books/download?dac=C2010-0-47318-4&isbn=9780429062421&doi=10.1201/9781439864135-18&format=pdf |
| Ending Page | 134 |
| Page Count | 16 |
| Starting Page | 119 |
| DOI | 10.1201/9781439864135-18 |
| Language | English |
| Publisher | Informa UK Limited |
| Publisher Date | 2001-04-21 |
| Access Restriction | Open |
| Subject Keyword | Book Name: Algorithmic and Computational Robotics Robotics Robots Finger Motion Planning Stratified Smooth Quasi Static Static Legged |
| Content Type | Text |
| Resource Type | Chapter |