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Toward obstacle avoidance in intermittent dynamical environments

  • Chapter 2 Dextrous Manipulation
  • Conference paper
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Experimental Robotics IV

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 223))

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Abstract

In this paper we discuss a robotic task requiring dynamical safety in the face of an intermittent environment. We define and offer examples of this notion. We then construct a dynamically safe composite controller from dynamically safe constituents, and present empirical evidence of its effectiveness.

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Authors and Affiliations

  1. Department of Electrical Engineering and Computer Science, The University of Michigan, Ann Arbor, Michigan, USA

    Robert R. Burridge, Alfred A. Rizzi & Daniel E. Koditschek

Authors
  1. Robert R. Burridge
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  2. Alfred A. Rizzi
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  3. Daniel E. Koditschek
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Editor information

Oussama Khatib J. Kenneth Salisbury

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© 1997 Springer-Verlag London Limited

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Burridge, R.R., Rizzi, A.A., Koditschek, D.E. (1997). Toward obstacle avoidance in intermittent dynamical environments. In: Khatib, O., Salisbury, J.K. (eds) Experimental Robotics IV. Lecture Notes in Control and Information Sciences, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035197

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  • DOI: https://doi.org/10.1007/BFb0035197

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76133-4

  • Online ISBN: 978-3-540-40942-7

  • eBook Packages: Springer Book Archive

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