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Distributed Real-Time Control of a Spatial Robot Juggler

IEEE Computer, May 1992

Alfred A. Rizzi, Louis L. Whitcomb, and D. E. Koditschek
Yale University
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      The Yale spatial juggler and an emerging set of working principles for the design and implementation of embedded real-time distributed controllers are described. The robot uses a distributed network of transputers to process stereo camera data and control the torque of a three-degree-of-freedom arm to juggle a ball. The juggling algorithm is a direct extension of a novel class of nonlinear feedback controllers, called mirror laws. The algorithm takes the form of a mathematical expression that specifies robot position as a function of the ball’s position and velocity. The programming approach, called geometric programming, substitutes event-driven dynamical processes and geometrical transformations for a more syntactically oriented if-then-else approach.
BibTeX entry
   author     = {Rizzi, Alfred A. and Whitcomb, Louis L. and Koditschek, Daniel E.},
   title      = {Distributed Real-Time Control of a Spatial Robot Juggler},
   journal    = {Computer},
   volume     = {25},
   number     = {5},
   year       = {1992},
   issn       = {0018-9162},
   pages      = {12--24},
   doi        = {http://dx.doi.org/10.1109/2.144392},
   publisher  = {IEEE Computer Society Press},
   address    = {Los Alamitos, CA, USA}
Copyright 1992 IEEE. Reprinted from IEEE Computer, Volume 25, Issue 5, May 1992, pages 12–24.
This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania’s products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it.
NOTE: At the time of publication, Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member of the School of Engineering at the University of Pennsylvania.

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