Paper Info
Title
Geometric Motion Planning Analysis for Two Classes of Underactuated Mechanical Systems
Abstract
In this paper we generate gaits for two types of underactuated mechanical systems: principally kinematic and purely mechanical systems. Our goal is to specify inputs in the form of gaits, that is, a sequence of controlled shape changes of a multi-bodied mechanical system that when executed would produce a desired change in the unactuated position or orientation variables of the entire mechanical system. In other words, we want to indirectly control the unactuated degrees of freedom of the mechanical system utilizing a controlled "internal" shape change. More precisely, in this paper we develop a gait evaluation tool which easily measures the change of position, computed in a body-attached coordinate frame, due to any closed curve in the shape space. This evaluation tool is simple enough that we can use it to generate gaits or to design curves that move the mechanical system along a desired direction. Finally, we verify that this gait analysis technique applies to two seemingly different classes of mechanical systems, purely mechanical and principally kinematic systems, and unify the gait generation problem for both classes.
Year
DOI
Venue
2007
10.1177/0278364907082106
I. J. Robotic Res.
Keywords
Field
DocType
gait generation,motion control,underactuated robots,non-holonomic motion planning,generalized momentum,purely mechanical systems,principally kinematic systems,Stokes' theorem
Motion planning,Motion control,Underactuated mechanical systems,Kinematics,Gait,Control theory,Control engineering,Gait analysis,Stokes' theorem,Mathematics,Mechanical system
Journal
Volume
Issue
ISSN
26
10
0278-3649
Citations 
PageRank 
References 
28
1.64
14
Authors
3
Name
Order
Citations
PageRank
Elie A. Shammas113118.06
Howie Choset22826257.12
Alfred A. Rizzi31208179.03