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• W2157835908 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." @default.
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• W2157835908 date "2002-04-01" @default.
• W2157835908 modified "2023-09-27" @default.
• W2157835908 title "Motion planning for kinematic stratified systems with application to quasi-static legged locomotion and finger gaiting" @default.
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• W2157835908 doi "https://doi.org/10.1109/tra.2002.999649" @default.
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