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Prof. Daniel E. Koditschek

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Toward the Regulation and Composition of Cyclic Behaviors

Algorithmic and computational robotics: new directions: the fourth Workshop on the Algorithmic Foundations of Robotics, 2001

Eric Klavins* Daniel E. Koditschek* Robert Ghrist†
*: University of Michigan
†: Georgia Institute of Technology
Full PDF | Penn ScholarlyCommons

Abstract
       Many tasks in robotics and automation require a cyclic exchange of energy between a machine and its environment. Since most environments are “under actuated” - that is, there are more objects to be manipulated than actuated degrees of freedom with which to manipulate them - the exchange must be punctuated by intermittent repeated contacts. In this paper we develop the appropriate theoretical setting for framing these problems and propose a general method for regulating coupled cyclic systems. We prove for the first time the local stability of a slight variant on a phase regulation strategy that we have been using with empirical success in the lab for more than a decade. We apply these methods to three examples juggling two balls, two legged synchronized hopping, and two legged running considering for the first time the analogies between juggling and running formally.
BibTeX entry
@conference{klavins2001toward,
  title={{Toward the regulation and composition of cyclic behaviors}},
  author={Klavins, E. and Koditschek, DE},
  booktitle={Algorithmic and computational robotics: new directions: the fourth Workshop on the Algorithmic Foundations of Robotics},
  pages={205},
  year={2001},
  organization={AK Peters, Ltd.}
}

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