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Prof. Daniel E. Koditschek

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Dynamically Dexterous Robots via Switched and Tuned Oscillators

Artificial Intelligence Laboratory and Controls Laboratory, University of Michigan, December 1994

D. E. Koditschek
University of Pennsylvania
NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan, Ann Arbor. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.

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      This document proposes a renewal of funding to support a program of autonomous robotics research that seeks to encode abstract user goals in the language of dynamical systems theory. The theme of expressing one’s goals in what is effectively “machine language” promotes the development of automatically generated robot controllers that achieve those goals in a verifiable manner. The focus is upon getting the robot to control the environment in the right way, although, not surprisingly, this requires careful attention to robot control and sensor architecture as well. The approach is founded on the premises arising from previously funded work in my laboratory that has resulted in several empirical and theoretical advances stemming from our systematic use of “practicable stability mechanisms” for nonlinear oscillators. The new emphasis in the proposed future work is placed upon developing a systems theory for combining existing behaviors to get more complex new ones via effective coupling techniques for these oscillators.
BibTeX entry
  author       = {Daniel E. Koditschek},
  title        = {Dynamically Dexterous Robots via Switched and Tuned Oscillators},
  year         = {1994},
  address      = {1101 Beal Ave, Ann Arbor, Michigan 48109-2110},
  month        = {December},

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