A Simple Juggling Robot: Theory and Experimentation
A Simple Juggling Robot: Theory and Experimentation
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一个简单的杂耍机器人：理论与实验
DOI：
10.1007/bfb0042512
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发表时间：
1989
期刊：
影响因子：
--
通讯作者：
P. Kindlmann
中科院分区：
文献类型：
--
作者：
M. Buehler;D. Koditschek;P. Kindlmann
我们开发了一种形式，用于描述和分析一类机器人任务的非常简单的表示，这些任务涉及重复的机器人 - 环境相互作用，其中包括我们杂耍的任务。我们称之为“镜子算法”的任务域。指定任务的版本 - “垂直的单杂物”，但观察到将局部线性化系统的极点置于局部的能力并不能在实验中明显地实现卓越的瞬态性能。提高性能的基础。
We have developed a formalism for describing and analyzing a very simple representative of a class of robotic tasks which involve repeated robot-environment interactions, among them the task of juggling. We review our empirical success to date with a new class of control algorithms for this task domain that we call “mirror algorithms.” These new nonlinear feedback algorithms were motivated strongly by experimental insights after the failure of local controllers based upon a linearized analysis. We offer here a proof that a suitable mirror algorithm is correct with respect to the local version of a specified task — the “vertical one-juggle” — but observe that the resulting ability to place poles of the local linearized system does not achieve noticeably superior transient performance in experiments. We discuss the further analysis and experimentation that should provide a theoretical basis for improving performance.