Departmental Papers (ESE)
Abstract
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
5-22-1992
Publication Source
Proceedings of the Seventh Yale Workshop on Learning and Adaptive Systems
Start Page
205
Last Page
212
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.
Comments
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.