https://murray.cds.caltech.edu/index.php?action=history&feed=atom&title=Control_Primitives_for_Robot_Systems 2026-04-26T07:14:50Z Revision history for this page on the wiki MediaWiki 1.41.5 https://murray.cds.caltech.edu/index.php?title=Control_Primitives_for_Robot_Systems&diff=20070&oldid=prev 2016-05-15T06:21:00Z

<p>htdb2wiki: creating page for 1992a_mdps92-smc.html</p> <p><b>New page</b></p><div>{{HTDB paper<br /> | authors = Richard M. Murray, D. Curtis Deno, Kristofer S. J. Pister, S. S. Sastry<br /> | title = Control Primitives for Robot Systems<br /> | source = &lt;em&gt;IEEE T. Systems, Man, and Cybernetics&lt;/em&gt;<br /> | year = 1992<br /> | type = Technical report<br /> (preprint)<br /> | funding = <br /> | url = http://www.cds.caltech.edu/~murray/preprints/erl-M90-39.pdf<br /> | abstract = 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. <br /> | flags = NoRequest<br /> | tag = mdps92-smc<br /> | id = 1992a<br /> }}</div>

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