Automatic Planning and Control of Robot Natural Motion Via Feedback
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Electrical and Computer Engineering
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Systems Engineering
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A feedback control strategy for the command of robot motion includes some limited automatic planning capabilities. These may be seen as sequential solution algorithms implemented by the robot arm interpreted as a mechanical analog computer. This perspective lends additional insight into the manner in which such control techniques may fail, and motivates a fresh look at requisite sensory capabilities. For more information: Kod*Lab
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Preprint version. Published in Adaptive and Learning Systems: Theory and Applications, 1986, pages 389-402. The original publication is available at http://link.springer.com/chapter/10.1007/978-1-4757-1895-9_28. NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania