Constructing and implementing motion programs for robotic marionettes

Patrick Martin; Elliot Johnson; Todd Murphey; Magnus Egerstedt

doi:10.1109/TAC.2011.2105312

Constructing and implementing motion programs for robotic marionettes

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

^*Corresponding author for this work

Mechanical Engineering

Research output: Contribution to journal › Article › peer-review

10 Scopus citations

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.

Original language	English (US)
Article number	5685259
Pages (from-to)	902-907
Number of pages	6
Journal	IEEE Transactions on Automatic Control
Volume	56
Issue number	4
DOIs	https://doi.org/10.1109/TAC.2011.2105312
State	Published - Apr 2011

Keywords

Dynamics
optimal control
robotics

ASJC Scopus subject areas

Control and Systems Engineering
Computer Science Applications
Electrical and Electronic Engineering

Access to Document

10.1109/TAC.2011.2105312

Cite this

@article{5550dfb81eea40d399e995247e2b01fb,

title = "Constructing and implementing motion programs for robotic marionettes",

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.",

keywords = "Dynamics, optimal control, robotics",

author = "Patrick Martin and Elliot Johnson and Todd Murphey and Magnus Egerstedt",

year = "2011",

month = apr,

doi = "10.1109/TAC.2011.2105312",

language = "English (US)",

volume = "56",

pages = "902--907",

journal = "IRE Transactions on Automatic Control",

issn = "0018-9286",

publisher = "Institute of Electrical and Electronics Engineers Inc.",

number = "4",

}

TY - JOUR

T1 - Constructing and implementing motion programs for robotic marionettes

AU - Martin, Patrick

AU - Johnson, Elliot

AU - Murphey, Todd

AU - Egerstedt, Magnus

PY - 2011/4

Y1 - 2011/4

N2 - 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.

AB - 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.

KW - Dynamics

KW - optimal control

KW - robotics

UR - http://www.scopus.com/inward/record.url?scp=79953776903&partnerID=8YFLogxK

UR - http://www.scopus.com/inward/citedby.url?scp=79953776903&partnerID=8YFLogxK

U2 - 10.1109/TAC.2011.2105312

DO - 10.1109/TAC.2011.2105312

M3 - Article

AN - SCOPUS:79953776903

SN - 0018-9286

VL - 56

SP - 902

EP - 907

JO - IRE Transactions on Automatic Control

JF - IRE Transactions on Automatic Control

IS - 4

M1 - 5685259

ER -

Constructing and implementing motion programs for robotic marionettes

Abstract

Keywords

ASJC Scopus subject areas

Access to Document

Other files and links

Fingerprint

Cite this