Feedback control for distributed manipulation

Todd D. Murphey; Joel W. Burdick

doi:10.1007/978-3-540-45058-0_29

Feedback control for distributed manipulation

Todd D. Murphey^*, Joel W. Burdick

^*Corresponding author for this work

Mechanical Engineering

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

2 Scopus citations

Abstract

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.

Original language	English (US)
Title of host publication	Algorithmic Foundations of Robotics V
Pages	487-503
Number of pages	17
DOIs	https://doi.org/10.1007/978-3-540-45058-0_29
State	Published - Dec 1 2004
Event	5th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2002 - Nice, France Duration: Dec 15 2002 → Dec 17 2002

Publication series

Name	Springer Tracts in Advanced Robotics
Volume	7 STAR
ISSN (Print)	1610-7438
ISSN (Electronic)	1610-742X

Other

Other	5th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2002
Country	France
City	Nice
Period	12/15/02 → 12/17/02

ASJC Scopus subject areas

Electrical and Electronic Engineering
Artificial Intelligence

Access to Document

10.1007/978-3-540-45058-0_29

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Cite this

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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.

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