Toward a Dynamical Pick and Place
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We report on our initial efforts to build robot feedback controllers that develop increased capability from simpler constituent controllers. Previous work with our three degree of freedom robot has resulted in a machine that exhibits various dynamically dexterous skills of superlative ability but very narrow behavioral scope. We focus here on the development of both a formalism and practice for the composition of constituent controllers. The composite should yield automatically purposive combinations of these skills that reach goals no one of the defining controllers could have achieved in isolation. The specific task we initially target, the "dynamical pick and place", requires the robot to acquire balls that have been "randomly" thrown into its work space and set them safely at rest in a specified location. We present a brief overview of the constituent behaviors and a mechanism for their combination along with documentation of our preliminary empirical successes.
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Copyright 1995 IEEE. Reprinted from Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems 95. 'Human Robot Interaction and Cooperative Robots.', Volume 3, 1995, pages 292-297. This material is posted here with permission of the IEEE. Such permission of the IEEE does not in any way imply IEEE endorsement of any of the University of Pennsylvania's products or services. Internal or personal use of this material is permitted. However, permission to reprint/republish this material for advertising or promotional purposes or for creating new collective works for resale or redistribution must be obtained from the IEEE by writing to pubs-permissions@ieee.org. By choosing to view this document, you agree to all provisions of the copyright laws protecting it. NOTE: At the time of publication, author Daniel Koditschek was affiliated with the University of Michigan. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.