Constructing and implementing motion programs for robotic marionettes

Patrick Martin*, Elliot Johnson, Todd Murphey, Magnus Egerstedt

*Corresponding author for this work

Research output: Contribution to journalArticlepeer-review

10 Scopus citations


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.

Original languageEnglish (US)
Article number5685259
Pages (from-to)902-907
Number of pages6
JournalIEEE Transactions on Automatic Control
Issue number4
StatePublished - Apr 2011


  • Dynamics
  • optimal control
  • robotics

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Computer Science Applications
  • Electrical and Electronic Engineering


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