How to Run a Centipede: A Topological Perspective

Yuliy Baryshnikov, Boris Shapiro

Research output: Chapter in Book/Report/Conference proceedingChapter


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

Original languageEnglish (US)
Title of host publicationGeometric control theory and sub-Riemannian geometry
Number of pages15
StatePublished - 2014

Publication series

NameSpringer INdAM Series
PublisherSpringer International Publishing AG
ISSN (Print)2281-518X

ASJC Scopus subject areas

  • General Mathematics


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