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Feedback Control for Distributed Manipulation

Murphey, Todd D. and Burdick, Joel W. (2004) Feedback Control for Distributed Manipulation. In: Algorithmic Foundations of Robotics V. Springer Tracts in Advanced Robotics. No.7. Springer , Berlin, pp. 487-503. ISBN 978-3-642-07341-0.

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We consider the feedback stabilization of a part being manipulated by a distributed array of actuators. Previously, the authors showed that open loop methods based on programmable vector fields can lead to unstable dynamics, particularly when the effects of rolling and sliding against actuators play a significant role in the dynamics. We show here how to incorporate these factors into the design of feedback laws in order to stabilize the manipulated object to an equilibrium. Experiments on a test-bed illustrate the results.

Item Type:Book Section
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Additional Information:© 2004 Springer-Verlag Berlin Heidelberg.
Subject Keywords:Feedback Control; Lyapunov Function; Contact State; Differential Inclusion; Kinematic Constraint
Series Name:Springer Tracts in Advanced Robotics
Issue or Number:7
Record Number:CaltechAUTHORS:20191009-160935719
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Usage Policy:No commercial reproduction, distribution, display or performance rights in this work are provided.
ID Code:99205
Deposited By: Tony Diaz
Deposited On:09 Oct 2019 23:17
Last Modified:16 Nov 2021 17:44

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