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


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
Your Session has timed out. Please sign back in to continue.





Some tools below are only available to our subscribers or users with an online account.

Related Content

Customize your page view by dragging and repositioning the boxes below.

Related Journal Articles
Related eBook Content
Topic Collections

Sorry! You do not have access to this content. For assistance or to subscribe, please contact us:

  • TELEPHONE: 1-800-843-2763 (Toll-free in the USA)
  • EMAIL: asmedigitalcollection@asme.org
Sign In