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Control primitives for robot systems

Deno, D. Curtis and Murray, Richard M. and Pister, Kristofer S. J. and Sastry, S. Shankar (1990) Control primitives for robot systems. In: Proceedings 1990 IEEE International Conference on Robotics and Automation. Vol.3. IEEE , Piscataway, NJ, pp. 1866-1871. ISBN 0-8186-9061-5. https://resolver.caltech.edu/CaltechAUTHORS:20190318-135736981

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Abstract

A methodology is developed for describing of hierarchical control of robot systems in a manner which is faithful to the underlying mechanics, structured enough to be used as an interpreted language, and sufficiently flexible to encompass a wide variety of systems. A consistent set of primitive operations which form the core of a robot system description and control language is presented. This language, motivated by the hierarchical organization of neuromuscular systems, is capable of describing a large class of robot systems under a variety of single-level and distributed control schemes.


Item Type:Book Section
Related URLs:
URLURL TypeDescription
https://doi.org/10.1109/ROBOT.1990.126280DOIArticle
ORCID:
AuthorORCID
Murray, Richard M.0000-0002-5785-7481
Additional Information:© 1990 IEEE. D.C. Deno was supported by NEI EY05913, the Smith-Kettlewell Eye Research Foundation, and the Rachael C. Atkinson Fellowship Award. K.S.J. Pister, R.M. Murray, and S.S. Sastry were supported in part by the NSF under grant numbers DMC 84-51129, ECS 87-19298 and the Air Force Office of Scientific Research (AFSC) under grant number F49620-87-C0041. R.M. Murray was also supported in part by an IBM Manufacturing Fellowship.
Funders:
Funding AgencyGrant Number
NIHEY05913
Smith-Kettlewell Eye Research FoundationUNSPECIFIED
NSFDMC 84-51129
NSFECS 87-19298
Air Force Office of Scientific Research (AFOSR)F49620-87-C0041
IBMUNSPECIFIED
National Eye InstituteUNSPECIFIED
DOI:10.1109/ROBOT.1990.126280
Record Number:CaltechAUTHORS:20190318-135736981
Persistent URL:https://resolver.caltech.edu/CaltechAUTHORS:20190318-135736981
Official Citation:D. C. Deno, R. M. Murray, K. S. J. Pister and S. S. Sastry, "Control primitives for robot systems," Proceedings., IEEE International Conference on Robotics and Automation, Cincinnati, OH, USA, 1990, pp. 1866-1871 vol.3. doi: 10.1109/ROBOT.1990.126280
Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:93935
Collection:CaltechAUTHORS
Deposited By: Tony Diaz
Deposited On:18 Mar 2019 22:58
Last Modified:16 Nov 2021 17:01

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