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Prof. Daniel E. Koditschek

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Robotics in Intermittent Dynamical Environments

Center for Systems Science, Yale University, 1988

Martin Buehler, D. E. Koditschek, and P.J. Kindlmann
Yale University
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NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.

       We have developed a formalism for describing and analyzing a very simple representative of a class of robotic tasks which require “dynamical dexterity,” among them the task of juggling. We review our empirical success to date with a new class of control algorithms for this task domain that we call “mirror algorithms.” The formalism for representing the task domain and encoding within it the desired robot behavior enables us to prove that a suitable mirror algorithm is correct with respect to a specified task.
BibTeX entry
   title      = {Robotics in an Intermittent Environment: a Prelude to Juggling},
   author     = {M. Buehler and D.E. Koditschek and P.J. Kindlmann},
   booktitle  = {Center for Systems Science, Yale University},
   year       = {1988},

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