Optimal Timing Control of Interconnected, Switched Systems with Applications to Robotic Marionettes
Egerstedt, Magnus B.
MetadataShow full item record
We present an optimal timing control formulation of the problem of controlling autonomous puppets. In particular, by appropriately timing the different movements, entire plays can be performed. Such plays are produced by concatenating sequences of motion primitives and a compiler optimizes these sequences, using recent results in optimal switch-time control. Experimental results illustrate the operation of the proposed method.