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RESEARCH PAPERS

Some Applications of Natural Motion Control

[+] Author and Article Information
D. E. Koditschek

Center for Systems Science, Department of Electrical Engineering, Yale University, New Haven, CT 06520-2157

J. Dyn. Sys., Meas., Control 113(4), 552-557 (Dec 01, 1991) (6 pages) doi:10.1115/1.2896457 History: Received May 11, 1989; Revised March 11, 1991; Online March 17, 2008

Abstract

This paper offers two engineering applications of the theoretical ideas presented in [13]. Each case concerns a generalized setpoint problem for a mechanical system whose configuration space does not permit globally asymptotically stable closed loops. By presenting a navigation function for each case, the paper shows how “natural control” may provide a degree of autonomy of execution without the appeal to a higher level planning system.

Copyright © 1991 by The American Society of Mechanical Engineers
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