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Control Primitives for Robot Systems
Abstract We present a set of primitive operations w
We present a set of primitive operations which forms the core of a robot system description and control language. The actions of the individual primitives are derived from the mathematical structure of the equations of motion for constrained mechanical systems. The recursive nature of the primitives allows composite robots to be constructed from more elementary daughter robots. We review a few pertinent results of classical mechanics, describe the functionality of our primitive operations, and present several different hierarchical strategies for the description and control of a two-fingered hand holding a box.
trol of a two-fingered hand holding a box.  +
Authors Richard M. Murray, D. Curtis Deno, Kristofer S. J. Pister, S. S. Sastry  +
Flags NoRequest  +
ID 1992a  +
Source <em>IEEE T. Systems, Man, and Cybernetics</em>  +
Tag mdps92-smc  +
Title Control Primitives for Robot Systems +
Type Technical report (preprint)  +
Categories Papers
Modification date
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15 May 2016 06:21:00  +
URL
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http://www.cds.caltech.edu/~murray/preprints/erl-M90-39.pdf  +
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