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Hierarchical Feedback Controllers for Robotic Assembly

Seventh Yale Workshop on Learning and Adaptive Systems, May 1992

D. E. Koditschek
Yale University
Full PDF | Penn Scholarly Commons

      How is navigating a unicycle amidst obstacles like manipulating beads on a necklace? This paper addresses that question by introducing a simple control system that appears to offer a common dynamical model for both situations. System (1) consists of a trivially controlled set of “steering” state variables and an additional set of “body” state variables that can be “driven” in a direction determined by the steering variables. The task will be to bring the state of the system to some desired equilibrium using feedback. A defect in the “steered” vector field precludes the possibility of stabilization via a single continuous feedback controller - the essence of what feedback is all about - incurs the necessity of a hierarchical system.
BibTeX entry
  author       = {D.E. Koditschek},
  title        = {Hierarchical Feedback Controllers for Robotic Assembly},
  booktitle    = {Seventh Yale Workshop on Adaptive and Learning Systems},
  year         = {1992},
  address      = {Center for System Science, Yale University, New Heaven, CT},
  month        = {May},

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