Communicating sequential processes
Communicating sequential processes
Parallel and distributed computation: numerical methods
Parallel and distributed computation: numerical methods
Adaptive trajectory control of manipulators
The robotics review 1
Concepts and Notations for Concurrent Programming
ACM Computing Surveys (CSUR)
RHex: A Biologically Inspired Hexapod Runner
Autonomous Robots
Distributed, Real-Time Control of Structurally Flexible Manipulators
IEEE Parallel & Distributed Technology: Systems & Technology
Bouncing an unconstrained ball in three dimensions with a blind juggling robot
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Safe human robot interaction via energy regulation control
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
| Hi-index | 4.10 |
The Yale spatial juggler and an emerging set of working principles for the design and implementation of embedded real-time distributed controllers are described. The robot uses a distributed network of transputers to process stereo camera data and control the torque of a three-degree-of-freedom arm to juggle a ball. The juggling algorithm is a direct extension of a novel class of nonlinear feedback controllers, called mirror laws. The algorithm takes the form of a mathematical expression that specifies robot position as a function of the ball's position and velocity. The programming approach, called geometric programming, substitutes event-driven dynamical processes and geometrical transformations for a more syntactically oriented if-then-else approach.