Sequential Composition of Dynamically Dexterous ... - Semantic Scholar
University of Pennsylvania
ScholarlyCommons Departmental Papers (ESE)
Department of Electrical & Systems Engineering
6-1999
Sequential Composition of Dynamically Dexterous Robot Behaviors R. R. Burridge University of Michigan - Ann Arbor
A. A. Rizzi Carnegie Mellon University
Daniel E. Koditschek University of Pennsylvania, [email protected]
Follow this and additional works at: http://repository.upenn.edu/ese_papers Part of the Electrical and Computer Engineering Commons, and the Systems Engineering Commons Recommended Citation R. R. Burridge, A. A. Rizzi, and Daniel E. Koditschek, "Sequential Composition of Dynamically Dexterous Robot Behaviors", The International Journal of Robotics Research 18(6), 534-555. June 1999. http://dx.doi.org/10.1177/02783649922066385
“The final, definitive version of this article has been published in the Journal, The International Journal of Robotics Research>, 18/6, 1999, © by SAGE Publications, Inc. at the The International Journal of Robotics Research> pages: 534-555. On SAGE Journals Online: http://ijr.sagepub.com/content/18/6/534.abstract 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. This paper is posted at ScholarlyCommons. http://repository.upenn.edu/ese_papers/686 For more information, please contact [email protected].
Sequential Composition of Dynamically Dexterous Robot Behaviors Abstract
We report on our efforts to develop a sequential robot controller composition technique in the context of dexterous “batting” maneuvers. A robot with a flat paddle is required to strike repeatedly at a thrown ball until the ball is brought to rest on the paddle at a specified location. The robot’s reachable workspace is blocked by an obstacle that disconnects the free space formed when the ball and paddle remain in contact, forcing the machine to “let go” for a time to bring the ball to the desired state. The controller compositions we create guarantee that a ball introduced in the “safe workspace” remains there and is ultimately brought to the goal. We report on experimental results from an implementation of these formal composition methods, and present descriptive statistics characterizing the experiments. For more information: Kod*Lab Disciplines
Electrical and Computer Engineering | Engineering | Systems Engineering Comments
“The final, definitive version of this article has been published in the Journal, The International Journal of Robotics Research>, 18/6, 1999, © by SAGE Publications, Inc. at the The International Journal of Robotics Research> pages: 534-555. On SAGE Journals Online: http://ijr.sagepub.com/content/18/6/ 534.abstract 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.
This journal article is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/686
ScholarlyCommons Departmental Papers (ESE)
Department of Electrical & Systems Engineering
6-1999
Sequential Composition of Dynamically Dexterous Robot Behaviors R. R. Burridge University of Michigan - Ann Arbor
A. A. Rizzi Carnegie Mellon University
Daniel E. Koditschek University of Pennsylvania, [email protected]
Follow this and additional works at: http://repository.upenn.edu/ese_papers Part of the Electrical and Computer Engineering Commons, and the Systems Engineering Commons Recommended Citation R. R. Burridge, A. A. Rizzi, and Daniel E. Koditschek, "Sequential Composition of Dynamically Dexterous Robot Behaviors", The International Journal of Robotics Research 18(6), 534-555. June 1999. http://dx.doi.org/10.1177/02783649922066385
“The final, definitive version of this article has been published in the Journal, The International Journal of Robotics Research>, 18/6, 1999, © by SAGE Publications, Inc. at the The International Journal of Robotics Research> pages: 534-555. On SAGE Journals Online: http://ijr.sagepub.com/content/18/6/534.abstract 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. This paper is posted at ScholarlyCommons. http://repository.upenn.edu/ese_papers/686 For more information, please contact [email protected].
Sequential Composition of Dynamically Dexterous Robot Behaviors Abstract
We report on our efforts to develop a sequential robot controller composition technique in the context of dexterous “batting” maneuvers. A robot with a flat paddle is required to strike repeatedly at a thrown ball until the ball is brought to rest on the paddle at a specified location. The robot’s reachable workspace is blocked by an obstacle that disconnects the free space formed when the ball and paddle remain in contact, forcing the machine to “let go” for a time to bring the ball to the desired state. The controller compositions we create guarantee that a ball introduced in the “safe workspace” remains there and is ultimately brought to the goal. We report on experimental results from an implementation of these formal composition methods, and present descriptive statistics characterizing the experiments. For more information: Kod*Lab Disciplines
Electrical and Computer Engineering | Engineering | Systems Engineering Comments
“The final, definitive version of this article has been published in the Journal, The International Journal of Robotics Research>, 18/6, 1999, © by SAGE Publications, Inc. at the The International Journal of Robotics Research> pages: 534-555. On SAGE Journals Online: http://ijr.sagepub.com/content/18/6/ 534.abstract 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.
This journal article is available at ScholarlyCommons: http://repository.upenn.edu/ese_papers/686
