• Kod.7IntSympRobRes1996


Prof. Daniel E. Koditschek

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Toward A Systems Theory for the Composition of Dynamically Dexterous Robot Behaviors

The Seventh International Symposium on Robotics Research, 1996

R. R. Burridge*, A. A. Rizzi*, D. E. Koditschek†
*: University of Michigan, Ann Arbor
†: University of Pennsylvania
Full PDF | Penn Scholarly Commons | Web Link

Abstract
      We report on our efforts to develop robot controller composition techniques in the context of dexterous “batting” maneuvers. A robot with a flat paddle is required to strike repeatedly at a falling ball until it is brought to zero velocity at a a specified position. The robot’s workspace is cluttered with obstacles that disconnect the freespace formed when the ball and paddle remain in contact - the machine is forced to “let go” for a time in order to bring the ball to the desired state. The controller compositions that we create will guarantee that a ball introduced in the “safe workspace” remains there and is ultimately brought to the goal. We believe that the developing systems discipline described here may be extended to build a variety of useful dexterous machines that are similarly single-minded in their pursuit of the user’s goal behavior and ability to surmount unanticipated perturbations along the way.
BibTeX entry
@inbook{Burridge_Rizzi_Koditschek_1996, 
      title=     {Toward A Systems Theory for the Composition of Dynamically Dexterous Robot Behaviors}, 
      ISBN=      {978-1-4471-1254-9, 978-1-4471-0765-1}, 
      url=       {http://link.springer.com/chapter/10.1007/978-1-4471-0765-1_17}, 
      booktitle= {Robotics Research}, 
      publisher= {Springer London}, 
      author=    {Burridge, R. R. and Rizzi, A. A. and Koditschek, D. E.}, 
      editor=    {Giralt, Georges and Hirzinger, GerhardEditors}, 
      year=      {1996}, 
      month=     {Jan}, 
      pages=     {149161}
}

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