A Family of Robot Control Strategies for Intermittent Dynamical Environments
Loading...
Penn collection
Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
Degree type
Discipline
Subject
GRASP
Kodlab
Kodlab
Funder
Grant number
License
Copyright date
Distributor
Related resources
Author
Contributor
Abstract
This article develops a formalism for describing and analyzing a very simple representative class of robotic tasks that require "dynamical dexterity" - among them, the task of juggling. The authors review their empirical success, to date, with a new class of control algorithms for this task domain, called "mirror algorithms." The formalism for representing the task domain and encoding within it the desired robot behavior enables them to prove that a suitable mirror algorithm is correct with respect to a specified task.
Advisor
Date Range for Data Collection (Start Date)
Date Range for Data Collection (End Date)
Digital Object Identifier
Series name and number
Publication date
1990-02-01
Journal title
Volume number
Issue number
Publisher
Publisher DOI
Comments
Copyright 1990 IEEE. Reprinted from IEEE Control Systems Magazine, Volume 10, Issue 2, February 1990, pages 16-22. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. NOTE: At the time of publication, the author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member of the School of Engineering at the University of Pennsylvania.