Published May 1990
| Published
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Control primitives for robot systems
Chicago
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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.
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.Attached Files
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Additional details
- Eprint ID
- 93935
- Resolver ID
- CaltechAUTHORS:20190318-135736981
- NIH
- EY05913
- Smith-Kettlewell Eye Research Foundation
- NSF
- DMC 84-51129
- NSF
- ECS 87-19298
- Air Force Office of Scientific Research (AFOSR)
- F49620-87-C0041
- IBM
- National Eye Institute
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2019-03-18Created from EPrint's datestamp field
- Updated
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2021-11-16Created from EPrint's last_modified field