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