Constructing and Implementing Motion Programs for Robotic Marionettes

被引：6
|
作者：
Martin, Patrick [1 ]
Johnson, Elliot [2 ]
Murphey, Todd [2 ]
Egerstedt, Magnus [3 ]
机构：
[1] York Coll Penn, Elect & Comp Engn Program, Kinsley Engn Ctr, York, PA 17403 USA
[2] Northwestern Univ, Dept Mech Engn, Chicago, IL 60657 USA
[3] Georgia Inst Technol, Dept Elect & Comp Engn, Atlanta, GA 30332 USA
来源：
IEEE TRANSACTIONS ON AUTOMATIC CONTROL | 2011年 / 56卷 / 04期
基金：
美国国家科学基金会;
关键词：
Dynamics; optimal control; robotics;
D O I：
10.1109/TAC.2011.2105312
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
This technical note investigates how to produce control programs for complex systems in a systematic manner. In particular, we present an abstraction-based approach to the specification and optimization of motion programs for controlling robot marionettes. The resulting programs are based on the concatenation of motion primitives and are further improved upon using recent results in optimal switch-time control. Simulations as well as experimental results illustrate the operation of the proposed method.
引用
收藏
页码：902 / 907
页数：6
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