TY - JOUR
T1 - How to Run a Centipede
T2 - A Topological Perspective
AU - Baryshnikov, Yuliy
AU - Shapiro, Boris
PY - 2014/1/1
Y1 - 2014/1/1
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
UR - http://www.scopus.com/inward/record.url?scp=84992148198&partnerID=8YFLogxK
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U2 - 10.1007/978-3-319-02132-4_3
DO - 10.1007/978-3-319-02132-4_3
M3 - Article
AN - SCOPUS:84992148198
VL - 5
SP - 37
EP - 51
JO - Springer INdAM Series
JF - Springer INdAM Series
SN - 2281-518X
ER -