Abstract
Planning and behavior are two strategies which have characterized much of the recent research in robotic intelligent control. While planning algorithms provide provable convergence and analytic results, they are not generally robust and responsive in dynamic environments. Reactive behavior on the other hand, while designed for robust performance and rapid response, provide fewer analytic tools for design and evaluation. Our objective is to understand the mechanism of behavioral control and to develop analytic design tools, particularly in the area of robotic manipulation. In this paper we propose a general framework for reactive control and discuss some methods for analysis and design. We also analyze and implement a behavioral control scheme for the acquisition of a cylinder using a robot hand/arm system.
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© 1993 Springer-Verlag London Limited
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Brock, D.L., Kenneth Salisbury, J. (1993). Implementation of behavioral control on a robot hand/arm system. In: Chatila, R., Hirzinger, G. (eds) Experimental Robotics II. Lecture Notes in Control and Information Sciences, vol 190. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0036135
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DOI: https://doi.org/10.1007/BFb0036135
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