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Trajectory Generation for Mechanical Systems with Application to Robotic Locomotion
Abstract This paper gives a survey of current and e …
This paper gives a survey of current and emerging techniques for motion control of nonlinear mechanical systems, motivated by applications in robotic locomotion. For this class of systems, internal changes of shape and/or application of body fixed forces are the mechanism by which the robot mov es in its environment and the geometric mechanical properties of the system are crucial in understanding how specific gaits for generating motion can be obtained.
its for generating motion can be obtained.  +
Authors Richard M. Murray, Joel W. Burdick, Scott D. Kelly, James Radford  +
ID 1998g  +
Source Proceedings, 1998 Workshop on Algorithmic Foundations of Robotics  +
Tag mur98-wafr  +
Title Trajectory Generation for Mechanical Systems with Application to Robotic Locomotion +
Type Conference Paper  +
Categories Papers
Modification date
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15 May 2016 06:19:43  +
URL
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http://www.cds.caltech.edu/~murray/preprints/mur98-wafr.pdf  +
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