A General Stance Stability Test Based on Stratified Morse Theory With Application to Quasi-Static Locomotion Planning
نویسندگان
چکیده
منابع مشابه
Motion planning for kinematic stratified systems with application to quasi-static legged locomotion and finger gaiting
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 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 u...
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15 صفحه اولStratified Motion Planning on Non-Smooth Domains with Application to Robotic Legged Locomotion and Manipulation
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ژورنال
عنوان ژورنال: IEEE Transactions on Robotics
سال: 2008
ISSN: 1552-3098,1941-0468
DOI: 10.1109/tro.2008.919287