Timing Control of Switched Systems with Applications to Robotic Marionettes

Authors:
Patrick Martin;Magnus B. Egerstedt
Affiliations:
School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, USA 30332;School of Electrical and Computer Engineering, Georgia Institute of Technology, Atlanta, USA 30332
Venue:
Discrete Event Dynamic Systems
Year:
2010

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Abstract

We present an optimal timing control formulation for the problem of controlling autonomous puppets. In particular, by appropriately timing the different movements, entire plays can be performed. Such plays are produced by concatenating sequences of motion primitives and a compiler optimizes these sequences, using recent results in optimal switch-time control. Additionally, we apply saddle-point techniques to approach the problem of timing constraints among interconnected puppets. Experimental results illustrate the operation of the proposed methods.