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Control primitives for robot systems

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4 Author(s)
Deno, D.C. ; Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA, USA ; Murray, R.M. ; Pister, K.S.J. ; Sastry, S.S.

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

Published in:

Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on

Date of Conference:

13-18 May 1990