Control Primitives for Robot Systems

D.C. Deno, R.M. Murray, Kristofer Pister and S. Shankar Sastry

EECS Department
University of California, Berkeley
Technical Report No. UCB/ERL M90/39
May 1990

http://www2.eecs.berkeley.edu/Pubs/TechRpts/1990/ERL-90-39.pdf

Inspired by the organization of the mammalian neuromuscular system, this report develops a methodology for description of hierarchical control in a manner which is faithful to the underlying mechanics, structured enough to be used as an interpreted language, and sufficiently flexible to allow the description of a wide variety of systems. We present a consistent set of primitive operations which form the core of a robot system description and control language. This language is capable of describing a large class of robot systems under a variety of single level and distributed control schemes. We review a few pertinent results of classical mechanics, describe the functionality of our primitive operations, and present several different hierarchical strategies for the description and control of a two-fingered hand holding a box. An implementation of the primitives in the form of a Mathematica package is given in an appendix. ~

BibTeX citation:

@techreport{Deno:M90/39,
    Author = {Deno, D.C. and Murray, R.M. and Pister, Kristofer and Sastry, S. Shankar},
    Title = {Control Primitives for Robot Systems},
    Institution = {EECS Department, University of California, Berkeley},
    Year = {1990},
    Month = {May},
    URL = {http://www2.eecs.berkeley.edu/Pubs/TechRpts/1990/1481.html},
    Number = {UCB/ERL M90/39},
    Abstract = {Inspired by the organization of the mammalian neuromuscular system, this report develops a methodology for description of hierarchical control in a manner which is faithful to the underlying mechanics, structured enough to be used as an interpreted language, and sufficiently flexible to allow the description of a wide variety of systems. We present a consistent set of primitive operations which form the core of a robot system description and control language. This language is capable of describing a large class of robot systems under a variety of single level and distributed control schemes. We review a few pertinent results of classical mechanics, describe the functionality of our primitive operations, and present several different hierarchical strategies for the description and control of a two-fingered hand holding a box.  An implementation of the primitives in the form of a Mathematica package is given in an appendix.  ~}
}

EndNote citation:

%0 Report
%A Deno, D.C.
%A Murray, R.M.
%A Pister, Kristofer
%A Sastry, S. Shankar
%T Control Primitives for Robot Systems
%I EECS Department, University of California, Berkeley
%D 1990
%@ UCB/ERL M90/39
%U http://www2.eecs.berkeley.edu/Pubs/TechRpts/1990/1481.html
%F Deno:M90/39