Departmental Papers (ESE)


How is navigating a unicycle amidst obstacles like manipulating beads on a necklace? This paper addresses that question by introducing a simple control system that appears to offer a common dynamical model for both situations. System (1) consists of a trivially controlled set of “steering” state variables and an additional set of “body” state variables that can be “driven” in a direction determined by the steering variables. The task will be to bring the state of the system to some desired equilibrium using feedback. A defect in the “steered” vector field precludes the possibility of stabilization via a single continuous feedback controller - the essence of what feedback is all about - incurs the necessity of a hierarchical system.

For more information: Kod*Lab

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version


Publication Source

Proceedings of the Seventh Yale Workshop on Learning and Adaptive Systems

Start Page


Last Page



Reprinted from Proceedings of the Seventh Yale Workshop on Adaptive and Learning Systems, May 1992.

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

@inproceedings{koditschek-workshop-1992, author = {D.E. Koditschek}, title = {Hierarchical Feedback Controllers for Robotic Assembly}, booktitle = {Seventh Yale Workshop on Adaptive and Learning Systems}, year = {1992}, address = {Center for System Science, Yale University, New Heaven, CT}, month = {May}, }



Date Posted: 29 September 2014

This document has been peer reviewed.