A Framework for Steering Dynamic Robotic Locomotion Systems

Abstract

We seek to formulate control and motion planning algorithms for a class of dynamic robotic locomo-tion systems. We consider mechanical systems that involve some type of interaction with the environment and have dynamics that possess rotational and translational symmetries. Research in nonholo-nomic systems and geometric mechanics has led to a single… (More)
DOI: 10.1177/0278364903022002001

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