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. ~
Title
Control Primitives for Robot Systems
Published
1990-05-01
Full Collection Name
Electrical Engineering & Computer Sciences Technical Reports
Other Identifiers
ERL-90-39
Type
Text
Extent
60 p
Archive
The Engineering Library
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