TY - CHAP
T1 - How to Run a Centipede
T2 - A Topological Perspective
AU - Baryshnikov, Yuliy
AU - Shapiro, Boris
N1 - Funding Information:
The authors want to thank Profs. D. Koditschek and F. Cohen for important discussions of the topic. Support from AFOSR through MURI FA9550-10-1-0567 (CHASE) is gratefully acknowledged.
Publisher Copyright:
© 2014, Springer International Publishing Switzerland.
PY - 2014
Y1 - 2014
N2 - In this paper we study the topology of the configuration space of a device with d legs (“centipede”) under some constraints, such as the impossibility to have more than k legs off the ground. We construct feedback controls stabilizing the system on a periodic gait and defined on a ‘maximal’ subset of the configuration space. A centipede was happy quite! Until a toad in fun Said, “Pray, which leg moves after which?” This raised her doubts to such a pitch, She fell exhausted in the ditch Not knowing how to run.Katherine Craster
AB - In this paper we study the topology of the configuration space of a device with d legs (“centipede”) under some constraints, such as the impossibility to have more than k legs off the ground. We construct feedback controls stabilizing the system on a periodic gait and defined on a ‘maximal’ subset of the configuration space. A centipede was happy quite! Until a toad in fun Said, “Pray, which leg moves after which?” This raised her doubts to such a pitch, She fell exhausted in the ditch Not knowing how to run.Katherine Craster
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U2 - 10.1007/978-3-319-02132-4_3
DO - 10.1007/978-3-319-02132-4_3
M3 - Chapter
VL - 5
T3 - Springer INdAM Series
SP - 37
EP - 51
BT - Geometric control theory and sub-Riemannian geometry
PB - Springer
ER -