Electrical Engineering
      and Computer Sciences

Electrical Engineering and Computer Sciences

COLLEGE OF ENGINEERING

UC Berkeley

Control Primitives for Robot Systems

D.C. Deno, R.M. Murray, Kristofer Pister and S. Shankar Sastry

EECS Department
University of California, Berkeley
Technical Report No. UCB/ERL M90/39
1990

Inspired by the organization of the mammalian neuromuscular system, this report develops a methodology for description of hierarchical control in a manner which is faithful to the underlying mechanics, structured enough to be used as an interpreted language, and sufficiently flexible to allow the description of a wide variety of systems. We present a consistent set of primitive operations which form the core of a robot system description and control language. This language is capable of describing a large class of robot systems under a variety of single level and distributed control schemes. 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. An implementation of the primitives in the form of a Mathematica package is given in an appendix. ~


BibTeX citation:

@techreport{Deno:M90/39,
    Author = {Deno, D.C. and Murray, R.M. and Pister, Kristofer and Sastry, S. Shankar},
    Title = {Control Primitives for Robot Systems},
    Institution = {EECS Department, University of California, Berkeley},
    Year = {1990},
    URL = {http://www.eecs.berkeley.edu/Pubs/TechRpts/1990/1481.html},
    Number = {UCB/ERL M90/39},
    Abstract = {Inspired by the organization of the mammalian neuromuscular system, this report develops a methodology for description of hierarchical control in a manner which is faithful to the underlying mechanics, structured enough to be used as an interpreted language, and sufficiently flexible to allow the description of a wide variety of systems. We present a consistent set of primitive operations which form the core of a robot system description and control language. This language is capable of describing a large class of robot systems under a variety of single level and distributed control schemes. 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.  An implementation of the primitives in the form of a Mathematica package is given in an appendix.  ~}
}

EndNote citation:

%0 Report
%A Deno, D.C.
%A Murray, R.M.
%A Pister, Kristofer
%A Sastry, S. Shankar
%T Control Primitives for Robot Systems
%I EECS Department, University of California, Berkeley
%D 1990
%@ UCB/ERL M90/39
%U http://www.eecs.berkeley.edu/Pubs/TechRpts/1990/1481.html
%F Deno:M90/39