Constructing and Implementing Motion Programs for Robotic Marionettes

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Please use this identifier to cite or link to this item: http://hdl.handle.net/1853/38902

Title: Constructing and Implementing Motion Programs for Robotic Marionettes
Author: Martin, Patrick ; Johnson, Elliot ; Murphey, Todd D. ; Egerstedt, Magnus B.
Abstract: This technical note investigates how to produce control programs for complex systems in a systematic manner. In particular, we present an abstraction-based approach to the specification and optimization of motion programs for controlling robot marionettes. The resulting programs are based on the concatenation of motion primitives and are further improved upon using recent results in optimal switch-time control. Simulations as well as experimental results illustrate the operation of the proposed method.
Description: Digital Object Identifier: 10.1109/TAC.2011.2105312
Type: Article
URI: http://hdl.handle.net/1853/38902
ISSN: 0018-9286
Citation: P. Martin, E. Johnson, T. Murphey, and M. Egerstedt. Constructing and Implementing Motion Programs for Robotic Marionettes. IEEE Transactions on Automatic Control. Vol. 56, Issue 4, pp. 902.
Date: 2011-04
Contributor: Georgia Institute of Technology. School of Electrical and Computer Engineering
Georgia Institute of Technology. Center for Robotics and Intelligent Machines
York College of Pennsylvania. Electrical and Computer Engineering Program
Northwestern University. Dept. of Mechanical Engineering
Publisher: Georgia Institute of Technology
Institute of Electrical and Electronics Engineers
Subject: Dynamics
Optimal control
Robotics

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