TY - GEN
T1 - Feedback control for distributed manipulation
AU - Murphey, Todd D.
AU - Burdick, Joel W.
PY - 2004/12/1
Y1 - 2004/12/1
N2 - We consider the feedback stabilization of a part being manipulated by a distributed array of actuators. Previously, the authors showed that open loop methods based on programmable vector fields can lead to unstable dynamics, particularly when the effects of rolling and sliding against actuators play a significant role in the dynamics. We show here how to incorporate these factors into the design of feedback laws in order to stabilize the manipulated object to an equilibrium. Experiments on a test-bed illustrate the results.
AB - We consider the feedback stabilization of a part being manipulated by a distributed array of actuators. Previously, the authors showed that open loop methods based on programmable vector fields can lead to unstable dynamics, particularly when the effects of rolling and sliding against actuators play a significant role in the dynamics. We show here how to incorporate these factors into the design of feedback laws in order to stabilize the manipulated object to an equilibrium. Experiments on a test-bed illustrate the results.
UR - http://www.scopus.com/inward/record.url?scp=84864678433&partnerID=8YFLogxK
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U2 - 10.1007/978-3-540-45058-0_29
DO - 10.1007/978-3-540-45058-0_29
M3 - Conference contribution
AN - SCOPUS:84864678433
SN - 3540404767
SN - 9783540404767
T3 - Springer Tracts in Advanced Robotics
SP - 487
EP - 503
BT - Algorithmic Foundations of Robotics V
T2 - 5th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2002
Y2 - 15 December 2002 through 17 December 2002
ER -