We are interested in the application of dynamical systems theory to the invention and construction of intelligent machines and systems, with a particular focus on biologically inspired robotics. Many of us have worked in robotics with emphasis on dynamical dexterity and the management of kinetic energy in designing machines capable of performing useful work on their bodies and environments. Others of us have worked on more abstract problems of control and coordination with the object of developing new methods of design and analysis toward the construction of such machines.

For more information: Kod*Lab

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Papers from 1992

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Exact Robot Navigation Using Artificial Potential Functions, Elon Rimon and Daniel E. Koditschek

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Progress in spatial robot juggling, Alfred A. Rizzi and Daniel E. Koditschek

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Distributed Real-Time Control of a Spatial Robot Juggler, Alfred A. Rizzi, Louis L. Whitcomb, and Daniel E. Koditschek

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Toward the automatic control of robot assembly tasks via potential functions: the case of 2-D sphere assemblies, Louis Whitcomb, Daniel E. Koditschek, and Joao B. D. Cabrera

Papers from 1991

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Can Dumb Feedback Produce Intelligent Machines?, Daniel E. Koditschek

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Robot Assembly: Another Source of Nonholonomic Control Problems, Daniel E. Koditschek

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Some Applications of Natural Motor Control, Daniel E. Koditschek

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Stabilizing Feedback Controllers for Robotic Assembly Problems, Daniel E. Koditschek

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The Control of Natural Motion in Mechanical Systems, Daniel E. Koditschek

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Toward a Science of Robot Planning and Control, Daniel E. Koditschek

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Analysis of A Simplified Hopping Robot, Daniel E. Koditschek and Martin Buehler

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The Construction of Analytic Diffeomorphisms for Exact Robot Navigation on Star Worlds, Elon Rimon and Daniel E. Koditschek

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Preliminary Experiments in Spatial Robot Juggling, A. A. Rizzi and Daniel E. Koditschek

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Preliminary Experiments in Robot Juggling: Transputer Based Real-Time Motion Control, Alfred Rizzi, Louis L. Whitcomb, and Daniel E. Koditschek

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Automatic assembly planning and control via potential functions, Louis L. Whitcomb and Daniel E. Koditschek

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Comparative experiments with a new adaptive controller for robot arms, Louis L. Whitcomb, Alfred A. Rizzi, and Daniel E. Koditschek

Papers from 1990

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A Simple Juggling Robot: Theory and Experimentation, M. Buehler

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From stable to chaotic juggling: theory, simulation, and experiments, Martin Buehler and Daniel E. Koditschek

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A Family of Robot Control Strategies for Intermittent Dynamical Environments, Martin Buehler, Daniel E. Koditschek, and Peter J. Kindlmann

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Planning and Control of Robotic Juggling Tasks, Martin Buehler, Daniel E. Koditschek, and P. J. Kindlmann

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Globally stable closed loops imply autonomous behavior, Daniel E. Koditschek

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Task Encoding for Autonomous Machines: The Assembly Problem, Daniel E. Koditschek

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Robot Navigation Functions on Manifolds with Boundary, Daniel E. Koditschek and Elon Rimon

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Exact robot navigation in geometrically complicated but topologically simple spaces, Elon Rimon and Daniel E. Koditschek

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Transputers at Work: Real-Time Distributed Robot Control, Louis L. Whitcomb and Daniel E. Koditschek

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Robot control in a message passing environment: theoretical questions and preliminary experiments, Louis L. Whitcomb and Daniel E. Koditschek

Papers from 1989

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A new distributed real-time controller for robotics applications, Martin Buehler, Louis L. Whitcomb, F. Levin, and Daniel E. Koditschek

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A Distributed Message Passing Computational and I/O Engine for Real-Time Motion Control, M. Buehler, L. L. Whitcomb, F. Levin, and Daniel E. Koditschek

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The Cyclops Vision System, Martin Buhler, N. Vlamis, Camillo J. Taylor, and A. Ganz

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Autonomous Mobile Robots Controlled by Navigation Functions, Daniel E. Koditschek

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Natural Control in Manufacturing, Daniel E. Koditschek

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Robot Planning and Control Via Potential Functions, Daniel E. Koditschek

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The Application of Total Energy as a Lyapunov Function for Mechanical Control Systems, Daniel E. Koditschek

The construction of analytic diffeomorphisms for exact robot navigation on star worlds, Elon Rimon and Daniel E. Koditschek

Papers from 1988

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Analysis of a simplified hopping robot, Martin Buehler and Daniel E. Koditschek

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A One Degree of Freedom Juggler in a Two Degree of Freedom Environment, Martin Buehler, Daniel E. Koditschek, and P. J. Kindlmann

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Application of a New Lyapunov Function: Global Adaptive Inverse Dynamics for a Single Rigid Body, Daniel E. Koditschek

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Application of a new Lyapunov function to global adaptive attitude tracking, Daniel E. Koditschek

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Strict Global Lyapunov Functions for Mechanical Systems, Daniel E. Koditschek

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Analysis of a Simplified Hopping Robot, Daniel E. Koditschek and Martin Buehler

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Distributed Control System for a Juggling Robot, Daniel E. Koditschek and Martin Buehler

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A New Computer Board for Distributed Real-Time Motion Control, Forrest Levin, Martin Buehler, Louis Whitcomb, and Daniel E. Koditschek

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Exact robot navigation using cost functions: the case of distinct spherical boundaries in En, Elon Rimon and Daniel E. Koditschek

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The Construction of Analytic Diffeomorphisms for Exact Robot Navigation on Star Worlds, Elon Rimon and Daniel E. Koditschek

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Preliminary Experiments in Real Time Distributed Robot Control, Louis L. Whitcomb, Martin Buehler, and Daniel E. Koditschek

Papers from 1987

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Robotics in an Intermittent Dynamical Environment: A Prelude to Juggling, Martin Buehler and Daniel E. Koditschek

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Adaptive Techniques for Mechanical Systems, Daniel E. Koditschek

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Exact robot navigation by means of potential functions: Some topological considerations, Daniel E. Koditschek

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High Gain Feedback and Telerobotic Tracking, Daniel E. Koditschek

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Lyapunov Analysis of Robot Motion, Daniel E. Koditschek

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Quadratic Lyapunov Functions for Mechanical Systems, Daniel E. Koditschek

Papers from 1986

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Automatic Planning and Control of Robot Natural Motion Via Feedback, Daniel E. Koditschek

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Robot Control: Theoretical Foundations and Recent Trends, Daniel E. Koditschek

Papers from 1985

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Adaptive strategies for the control of natural motion, Daniel E. Koditschek

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Robot Kinematics and Coordinate Transformations, Daniel E. Koditschek

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The Controllability of Planar Bilinear Systems, Daniel E. Koditschek and Kumpati S. Narendra

Papers from 1984

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Natural motion for robot arms, Daniel E. Koditschek

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Limit Cycles of Planar Quadratic Differential Equations, Daniel E. Koditschek and K. S. Narendra

Papers from 1983

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Stabilizability of Second Order Bilinear Systems, Daniel E. Koditschek and Kumpati J. Narendra

Papers from 1982

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The Stability of Second Order Quadratic Differential Equations, Daniel E. Koditschek and Kumpati J. Narendra

Papers from 1977

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Fixed Structure Automata in a Multi-Teacher Environment, Daniel E. Koditschek and Kumpati S. Narendra