Motion planning for kinematic stratified systems with application to quasi-static legged locomotion and finger gaiting

We present a general motion planning algorithm for robotic systems with a stratified configuration space. Such systems include quasi-static legged robots and kinematic models of object manipulation by ringer repositioning. Our method is an extension of a nonlinear motion planning algorithm for smooth systems to the stratified case, where the relevant dynamics are not smooth. The method does not depend upon the number of legs or fingers; furthermore, it is not based on foot placement or ringer placement concepts. Examples demonstrate the method.