Trajectory Generation for Mechanical Systems with Application to Robotic Locomotion

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Richard M. Murray, Joel W. Burdick, Scott D. Kelly, James Radford
Proceedings, 1998 Workshop on Algorithmic Foundations of Robotics

This paper gives a survey of current and emerging techniques for motion control of nonlinear mechanical systems, motivated by applications in robotic locomotion. For this class of systems, internal changes of shape and/or application of body fixed forces are the mechanism by which the robot mov es in its environment and the geometric mechanical properties of the system are crucial in understanding how specific gaits for generating motion can be obtained.