Control primitives for robot systems
Deno, D.C.
Murray, R.M.
Pister, K.S.J.
Sastry, S.S.
Dept. of Electr. Eng. & Comput. Sci., California Univ., Berkeley, CA;
This paper appears in: Robotics and Automation, 1990. Proceedings., 1990 IEEE International Conference on
Publication Date: 13-18 May 1990
On page(s): 1866-1871 vol.3
Meeting Date: 05/13/1990 - 05/18/1990
Location: Cincinnati, OH, USA
ISBN: 0-8186-9061-5
References Cited: 11
INSPEC Accession Number: 3886686
Digital Object Identifier: 10.1109/ROBOT.1990.126280
Current Version Published: 2002-08-06
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
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