Automatic Planning and Control

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Sep 5, 1985 - Daniel E. Koditschek *. Center for ... pursuit is bound to shed mo1'e light on the general problem of how to translate abstract task ...... [18] J.Y. S. Luh, M. W. Walker, and R. P. Paul, “Resolved Acceleration Control of Mechanical.
University of Pennsylvania

ScholarlyCommons Departmental Papers (ESE)

Department of Electrical & Systems Engineering

1986

Automatic Planning and Control of Robot Natural Motion Via Feedback Daniel E. Koditschek University of Pennsylvania, [email protected]

Follow this and additional works at: http://repository.upenn.edu/ese_papers Part of the Electrical and Computer Engineering Commons, and the Systems Engineering Commons Recommended Citation Daniel E. Koditschek, "Automatic Planning and Control of Robot Natural Motion Via Feedback", Adaptive and Learning Systems: Theory and Applications , 389-402. January 1986.

Preprint version. Published in Adaptive and Learning Systems: Theory and Applications, 1986, pages 389-402. The original publication is available at http://link.springer.com/chapter/10.1007/978-1-4757-1895-9_28. NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania This paper is posted at ScholarlyCommons. http://repository.upenn.edu/ese_papers/680 For more information, please contact [email protected].

Automatic Planning and Control of Robot Natural Motion Via Feedback Abstract

A feedback control strategy for the command of robot motion includes some limited automatic planning capabilities. These may be seen as sequential solution algorithms implemented by the robot arm interpreted as a mechanical analog computer. This perspective lends additional insight into the manner in which such control techniques may fail, and motivates a fresh look at requisite sensory capabilities. For more information: Kod*Lab Disciplines

Electrical and Computer Engineering | Engineering | Systems Engineering Comments

Preprint version. Published in Adaptive and Learning Systems: Theory and Applications, 1986, pages 389-402. The original publication is available at http://link.springer.com/chapter/10.1007/978-1-4757-1895-9_28. NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania

This journal article is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/680