Towards Automated Gait Generation for Dynamic Systems with Non-holonomic Constraints

Elie A. Shammas, Howie Choset, and Alfred Rizzi
In Proceedings of the International Conference on Robotics and Automation (ICRA '06), April, 2006.


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Abstract
Abstract-- In this paper we generate gaits for dynamics systems that are subject to non-holonomic velocity constraints. These systems are referred to as mixed non-holonomic systems. The motion of such systems is governed by both the non-holonomic constraints acting on the system and a system of differential equations constraining the evolution of generalized momentum. We propose a method that utilizes both governing motions, that is, satisfying all the constraints and instantaneously conserving momentum along un-restricted directions, to generate gaits for systems like the snakeboard, which belongs to the family of mixed non-holonomic systems. We accomplish this by defining a new scaled momentum variable. This scaled momentum allows us to easily explore the design of gaits that causes momentum to evolve such that a desired non-trivial motion results.

Notes
Associated Lab(s) / Group(s): Microdynamic Systems Laboratory and Biorobotics
Number of pages: 7
Note: Accepted

Text Reference
Elie A. Shammas, Howie Choset, and Alfred Rizzi, "Towards Automated Gait Generation for Dynamic Systems with Non-holonomic Constraints," In Proceedings of the International Conference on Robotics and Automation (ICRA '06), April, 2006.

BibTeX Reference
@inproceedings{Shammas_2006_5416,
   author = "Elie A Shammas and Howie Choset and Alfred Rizzi",
   title = "Towards Automated Gait Generation for Dynamic Systems with Non-holonomic Constraints",
   booktitle = "In Proceedings of the International Conference on Robotics and Automation (ICRA '06)",
   month = "April",
   year = "2006",
   Notes = "Accepted"
}