Geometric phases and robotic locomotion
DOI10.1002/ROB.4620120607zbMATH Open0854.70002OpenAlexW1966086223WikidataQ59814442 ScholiaQ59814442MaRDI QIDQ4836092FDOQ4836092
Authors: Scott David Kelly, Richard M. Murray 
Publication date: 27 January 1997
Published in: Journal of Robotic Systems (Search for Journal in Brave)
Full work available at URL: https://resolver.caltech.edu/CaltechCDSTR:1994.CIT-CDS-94-014
Recommendations
conservation lawscontrollabilitysix-legged robotcyclic changesPfaffian constraintstripod gaitconnection on principal bundleconstraint kinematicsinchworm robotside winding motion of snaketwo-wheeled planar mobile robot
Kinematics of mechanisms and robots (70B15) Differential geometric methods (tensors, connections, symplectic, Poisson, contact, Riemannian, nonholonomic, etc.) for problems in mechanics (70G45) Control of mechanical systems (70Q05) Differential geometric aspects in kinematics (53A17)
Cites Work
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