TY - GEN
T1 - Hybrid (Discrete-continuous) control of robotic systems
AU - Buss, Martin
N1 - Publisher Copyright:
© 2003 IEEE.
PY - 2003
Y1 - 2003
N2 - Mechatronic multicontact systems-MMS are a challenging subclass of hybrid - discrete-continuous - dynamical systems (HDS). Depending on the typically integer-valued number of (unilateral) contacts the structure of dynamic models varies. Typical hybrid control applications of MMS are multi-fingered robotic hands, multi-legged walking machines, or cars. In this paper the hybrid state model is presented as a general model for a wide class of hybrid dynamical systems. Hybrid feedback and optimal control concepts are proposed. A cooperative multi-arm transport task is presented as an application example.
AB - Mechatronic multicontact systems-MMS are a challenging subclass of hybrid - discrete-continuous - dynamical systems (HDS). Depending on the typically integer-valued number of (unilateral) contacts the structure of dynamic models varies. Typical hybrid control applications of MMS are multi-fingered robotic hands, multi-legged walking machines, or cars. In this paper the hybrid state model is presented as a general model for a wide class of hybrid dynamical systems. Hybrid feedback and optimal control concepts are proposed. A cooperative multi-arm transport task is presented as an application example.
UR - http://www.scopus.com/inward/record.url?scp=84942594227&partnerID=8YFLogxK
U2 - 10.1109/CIRA.2003.1222268
DO - 10.1109/CIRA.2003.1222268
M3 - Conference contribution
AN - SCOPUS:84942594227
T3 - Proceedings of IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA
SP - 712
EP - 717
BT - Proceedings - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2003 IEEE International Symposium on Computational Intelligence in Robotics and Automation, CIRA 2003
Y2 - 16 July 2003 through 20 July 2003
ER -