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We present a set of primitive operations w … We present a set of primitive operations which forms the core of a robot system</br>description and control language. The actions of the individual primitives are derived</br>from the mathematical structure of the equations of motion for constrained mechanical</br>systems. The recursive nature of the primitives allows composite robots to be constructed</br>from more elementary daughter robots. We review a few pertinent results of classical</br>mechanics, describe the functionality of our primitive operations, and present several</br>different hierarchical strategies for the description and control of a two-fingered hand</br>holding a box.trol of a two-fingered hand
holding a box. +
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06:21:00, 15 May 2016 +
