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How to Run a Centipede: a Topological Perspective
Stockholm University, Faculty of Science, Department of Mathematics.
2014 (English)In: Geometric Control Theory and Sub-Riemannian Geometry / [ed] Gianna Stefani, Ugo Boscain, Jean-Paul Gauthier, Andrey Sarychev, Mario Sigalotti, Cham: Springer International Publishing , 2014, 37-51 p.Chapter in book (Refereed)
Abstract [en]

In this paper we study the topology of the configuration space of a de- vice 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. 

Place, publisher, year, edition, pages
Cham: Springer International Publishing , 2014. 37-51 p.
, Springer INdAM Series, ISSN 2281-518X ; 5
Keyword [en]
centipede, leg control, forbidden control regions
National Category
Research subject
URN: urn:nbn:se:su:diva-112336ISBN: 9783319021324OAI: diva2:778840
Available from: 2015-01-12 Created: 2015-01-12 Last updated: 2015-03-04Bibliographically approved

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Shapiro, Boris
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