]> 2026-06-27T01:28:20+00:00 Control Primitives for Robot Systems 0 en 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. Richard M. Murray, D. Curtis Deno, Kristofer S. J. Pister, S. S. Sastry NoRequest 1992a <em>IEEE T. Systems, Man, and Cybernetics</em> mdps92-smc Technical report (preprint) 2016-05-15T06:21:00Z 2457523.7645833 Control Primitives for Robot Systems Title 102 en Title