A Family of Robot Control Strategies for Intermittent Dynamical Environments

被引：51

作者：

Buehler, Martin ^{[1
]}

Koditschek, Dan E. ^{[1
]}

Kindlmann, Peter J. ^{[1
]}

机构：

[1] Yale Univ, Dept Elect Engn, Ctr Syst Sci, New Haven, CT 06520 USA

来源：

IEEE CONTROL SYSTEMS MAGAZINE | 1990年 / 10卷 / 02期

基金：

美国国家科学基金会;

关键词：

D O I：

10.1109/37.45789

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This article develops a formalism for describing and analyzing a very simple representative class of robotic tasks that require "dynamical dexterity"-among them, the task of juggling. The authors review their empirical success, to date, with a new class of control algorithms for this task domain, called "mirror algorithms." The formalism for representing the task domain and encoding within it the desired robot behavior enables them to prove that a suitable mirror algorithm is correct with respect to a specified task.

引用

页码：16 / 22

页数：7