Motion planning for kinematic stratified systems with application to quasi-static legged locomotion and finger gaiting
- 7 August 2002
- journal article
- Published by Institute of Electrical and Electronics Engineers (IEEE) in IEEE Transactions on Robotics and Automation
- Vol. 18 (2), 209-222
- https://doi.org/10.1109/tra.2002.999649
Abstract
We present a general motion planning algorithm for robotic systems with a "stratified" configuration space. Such systems include quasi-static legged robots and kinematic models of object manipulation by finger repositioning. Our method is an extension of 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 fingers; furthermore, it is not based on foot placement or finger placement concepts. Examples demonstrate the method.Keywords
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