Feedback control for distributed manipulation

Todd D. Murphey*, Joel W. Burdick

*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceedingConference 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 languageEnglish (US)
Title of host publicationAlgorithmic Foundations of Robotics V
Pages487-503
Number of pages17
DOIs
StatePublished - Dec 1 2004
Event5th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2002 - Nice, France
Duration: Dec 15 2002Dec 17 2002

Publication series

NameSpringer Tracts in Advanced Robotics
Volume7 STAR
ISSN (Print)1610-7438
ISSN (Electronic)1610-742X

Other

Other5th International Workshop on the Algorithmic Foundations of Robotics, WAFR 2002
CountryFrance
CityNice
Period12/15/0212/17/02

ASJC Scopus subject areas

  • Electrical and Electronic Engineering
  • Artificial Intelligence

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