• DocumentCode
    1422953
  • Title

    Constructing and Implementing Motion Programs for Robotic Marionettes

  • Author

    Martin, Patrick ; Johnson, Elliot ; Murphey, Todd ; Egerstedt, Magnus

  • Author_Institution
    Kinsley Eng. Center, York Coll. of Pennsylvania, York, PA, USA
  • Volume
    56
  • Issue
    4
  • fYear
    2011
  • fDate
    4/1/2011 12:00:00 AM
  • Firstpage
    902
  • Lastpage
    907
  • Abstract
    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.
  • Keywords
    large-scale systems; mobile robots; time optimal control; abstraction based approach; complex system; motion program; optimal switch time control; optimization; robotic marionettes; Dynamics; Humans; Joints; Mathematical model; Optimization; Robots; Trajectory; Dynamics; optimal control; robotics;
  • fLanguage
    English
  • Journal_Title
    Automatic Control, IEEE Transactions on
  • Publisher
    ieee
  • ISSN
    0018-9286
  • Type

    jour

  • DOI
    10.1109/TAC.2011.2105312
  • Filename
    5685259
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=1422953