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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 This property is a special property in this wiki.
|
15 May 2016 06:21:00 + |
| URL This property is a special property in this wiki.
|
http://www.cds.caltech.edu/~murray/preprints/erl-M90-39.pdf + |
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| Control Primitives for Robot Systems + | Title |
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