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Operations Research, Systems Engineering and Industrial Engineering Commons

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Departmental Papers (ESE)

1988

Articles 1 - 4 of 4

Full-Text Articles in Operations Research, Systems Engineering and Industrial Engineering

The Construction Of Analytic Diffeomorphisms For Exact Robot Navigation On Star Worlds, Elon Rimon, Daniel E. Koditschek Oct 1988

The Construction Of Analytic Diffeomorphisms For Exact Robot Navigation On Star Worlds, Elon Rimon, Daniel E. Koditschek

Departmental Papers (ESE)

A navigation function is a scalar valued function on a robot configuration space which encodes the task of moving to a desired destination without hitting any obstacles. Our program of research concerns the construction of navigation functions on a family of configuration spaces whose “geometric expressiveness” is rich enough for navigation amidst real world obstacles. A sphere world is a compact connected subset of En whose boundary is the finite union of disjoint (n-1)-spheres. In previous work we have constructed navigation functions for every sphere world. In this paper we embark upon the task of extending the construction ...


Strict Global Lyapunov Functions For Mechanical Systems, Daniel E. Koditschek Jun 1988

Strict Global Lyapunov Functions For Mechanical Systems, Daniel E. Koditschek

Departmental Papers (ESE)

A novel Lyapunov function is introduced. The author treats the PD compensated mechanical system, which is defined on a configuration space which admits a trivial tangent bundle. Previous results are derived in a simpler form, namely, that such systems are exponentially stable, hence BIBO stable, and steady-state ouptut magnitudes are proportional to input magnitudes with a constant of proportionality depending in a simple fashion on the PD gain magnitudes.

For more information: Kod*Lab


Analysis Of A Simplified Hopping Robot, Daniel E. Koditschek, Martin Buehler May 1988

Analysis Of A Simplified Hopping Robot, Daniel E. Koditschek, Martin Buehler

Departmental Papers (ESE)

We offer some preliminary analytical results concerning simplified models of Raibert’s hopper. We represent the task of achieving a recurring hopping height for an actuated “ball” robot as a stability problem in the setting of a nonlinear discrete dynamical system. We model the properties of Raibert’s control scheme in a simplified fashion, and provide conditions under which the procedure results in closed loop dynamics possessed of a globally attracting fixed point - the formal rendering of what we intuitively mean by a “correct” strategy. The motivation for this work is the hope that it will facilitate the development of ...


Distributed Control System For A Juggling Robot, Daniel E. Koditschek, Martin Buehler Apr 1988

Distributed Control System For A Juggling Robot, Daniel E. Koditschek, Martin Buehler

Departmental Papers (ESE)

The juggling work takes its place within a larger program of research concerned with the development of unified methodologies for robot task representation, planning, and control. The talk will summarize this large context, and then provide a more detailed look at progress in juggling to date.

For more information: Kod*Lab