View source for Trajectory Generation for Mechanical Systems with Application to Robotic Locomotion

{{HTDB paper
| authors = Richard M. Murray, Joel W. Burdick, Scott D. Kelly, James Radford
| title = Trajectory Generation for Mechanical Systems with Application to Robotic Locomotion
| source = Proceedings, 1998 Workshop on Algorithmic Foundations of Robotics
| year = 1998
| type = Conference Paper
| funding = NSF
| url = http://www.cds.caltech.edu/~murray/preprints/mur98-wafr.pdf
| abstract =  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. 
| flags = 
| tag = mur98-wafr
| id = 1998g
}}