Controllability of Kinematic Control Systems on Strati edCon guration
نویسندگان
چکیده
منابع مشابه
Controllability of Kinematic Control Systems on
Many interesting and important control systems evolve on strati ed con guration spaces. Robotic systems, in particular, are of this nature. A legged robot has discontinuous equations of motion near points in the con guration space where each of its \feet" come into contact with the ground, and it is precisely the ability of the robot to lift its feet o of the ground that enables it to move abou...
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