腿式机器人的步态可控性

Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146) Pub Date : 1998-05-16 DOI:10.1109/ROBOT.1998.677021

B. Goodwine, J. Burdick

{"title":"腿式机器人的步态可控性","authors":"B. Goodwine, J. Burdick","doi":"10.1109/ROBOT.1998.677021","DOIUrl":null,"url":null,"abstract":"We present a general method for determining controllability of a class of kinematic legged robots. The method is general in that it is independent of the robot's morphology; in particular, it does not depend upon the number of legs. Our method is based on an extension of a nonlinear controllability test for smooth systems to the legged case, where the relevant mechanics are not smooth. Our extension is based on the realization that legged robot configuration spaces are stratified. The result is illustrated with a simple example.","PeriodicalId":272503,"journal":{"name":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","volume":"13 1","pages":"0"},"PeriodicalIF":0.0000,"publicationDate":"1998-05-16","publicationTypes":"Journal Article","fieldsOfStudy":null,"isOpenAccess":false,"openAccessPdf":"","citationCount":"24","resultStr":"{\"title\":\"Gait controllability for legged robots\",\"authors\":\"B. Goodwine, J. Burdick\",\"doi\":\"10.1109/ROBOT.1998.677021\",\"DOIUrl\":null,\"url\":null,\"abstract\":\"We present a general method for determining controllability of a class of kinematic legged robots. The method is general in that it is independent of the robot's morphology; in particular, it does not depend upon the number of legs. Our method is based on an extension of a nonlinear controllability test for smooth systems to the legged case, where the relevant mechanics are not smooth. Our extension is based on the realization that legged robot configuration spaces are stratified. The result is illustrated with a simple example.\",\"PeriodicalId\":272503,\"journal\":{\"name\":\"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)\",\"volume\":\"13 1\",\"pages\":\"0\"},\"PeriodicalIF\":0.0000,\"publicationDate\":\"1998-05-16\",\"publicationTypes\":\"Journal Article\",\"fieldsOfStudy\":null,\"isOpenAccess\":false,\"openAccessPdf\":\"\",\"citationCount\":\"24\",\"resultStr\":null,\"platform\":\"Semanticscholar\",\"paperid\":null,\"PeriodicalName\":\"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)\",\"FirstCategoryId\":\"1085\",\"ListUrlMain\":\"https://doi.org/10.1109/ROBOT.1998.677021\",\"RegionNum\":0,\"RegionCategory\":null,\"ArticlePicture\":[],\"TitleCN\":null,\"AbstractTextCN\":null,\"PMCID\":null,\"EPubDate\":\"\",\"PubModel\":\"\",\"JCR\":\"\",\"JCRName\":\"\",\"Score\":null,\"Total\":0}","platform":"Semanticscholar","paperid":null,"PeriodicalName":"Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)","FirstCategoryId":"1085","ListUrlMain":"https://doi.org/10.1109/ROBOT.1998.677021","RegionNum":0,"RegionCategory":null,"ArticlePicture":[],"TitleCN":null,"AbstractTextCN":null,"PMCID":null,"EPubDate":"","PubModel":"","JCR":"","JCRName":"","Score":null,"Total":0}

引用次数: 24

摘要

提出了确定一类运动足机器人可控性的一般方法。该方法的通用性在于它与机器人的形态无关;特别是，它不依赖于腿的数量。我们的方法是基于将光滑系统的非线性可控性测试推广到相关力学不光滑的腿的情况。我们的扩展是基于有腿机器人构型空间分层的实现。通过一个简单的例子说明了结果。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

查看原文本刊更多论文

Gait controllability for legged robots

We present a general method for determining controllability of a class of kinematic legged robots. The method is general in that it is independent of the robot's morphology; in particular, it does not depend upon the number of legs. Our method is based on an extension of a nonlinear controllability test for smooth systems to the legged case, where the relevant mechanics are not smooth. Our extension is based on the realization that legged robot configuration spaces are stratified. The result is illustrated with a simple example.

求助全文

通过发布文献求助，成功后即可免费获取论文全文。去求助

来源期刊

Proceedings. 1998 IEEE International Conference on Robotics and Automation (Cat. No.98CH36146)

自引率

0.00%

发文量