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Prof. Daniel E. Koditschek

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Event Driven Parts Moving in 2D Endogenous Environments

Proceedings of the IEEE Conference on Robotics and Automation, 2000

Serkan Karagoz*, H. Isil Bozma†, Daniel Koditschek‡
*: Bogazici University
†: Bogazici University
‡: University of Pennsylvania

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      This paper is concerned with the parts’ moving problem based on an event-driven planning and control. We are interested in developing feedback based approaches to the automatic generation of actuator commands that cause the robot to move a set of parts from an arbitrary initial disassembled configuration to a specif ed final configuration. In the Phase I of this project, a composite algorithm that reactively switches between different feedback controllers has been shown to induce a noncooperative game being played among the parts being manipulated. This paper describes experimental results with EDAR - Event-Driven Assembler Robot - developed for moving parts based on feedback techniques.
      This research is supported by the NSF under grant INT-9819890. The first two authors have been supported in part by n’jsflAK MSAG 65–1995 and Bogazici University Fund #99HA201. The third author has been supported in part by the NSF under grant 9510673. We gratefully acknowledge the contributions and assiduous work of Ihsan Hover to mechanical design and implementation.
BibTeX entry
  author       = {C. Serkan Karagoz and H. Isil Bozma},
  title        = {Event Driven Parts Moving in 2D Endogenous Environments},
  booktitle    = {Proceedings of the IEEE Conference on Robotics and Automation},
  year         = {2000},
  address      = {San Francisco, USA},
  month        = {April},

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