Departmental Papers (ESE)


A feedback control strategy for the command of robot motion includes some limited automatic planning capabilities. These may be seen as sequential solution algorithms implemented by the robot arm interpreted as a mechanical analog computer. This perspective lends additional insight into the manner in which such control techniques may fail, and motivates a fresh look at requisite sensory capabilities.

For more information: Kod*Lab

Document Type

Journal Article

Subject Area

GRASP, Kodlab

Date of this Version


Publication Source

Adaptive and Learning Systems: Theory and Applications

Start Page


Last Page



Preprint version. Published in Adaptive and Learning Systems: Theory and Applications, 1986, pages 389-402. The original publication is available at

NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania

Bib Tex

@article{koditschek_1985), author = {Daniel Koditschek}, title = {Automatic Planning and Control of Robot Natural Motion Via Feedback}, booktitle = {Adaptive and Learning Systems: Theory and Applications}, year = {1985}, month = {September}, }



Date Posted: 25 July 2014

This document has been peer reviewed.