Control Primitives for Robot Systems

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Richard M. Murray, D. Curtis Deno, Kristofer S. J. Pister, S. S. Sastry
IEEE T. Systems, Man, and Cybernetics

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.

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