Optimal Timing Control of Interconnected, Switched Systems with Applications to Robotic Marionettes
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Author(s)
Martin, Patrick
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Abstract
We present an optimal timing control formulation
of the problem of controlling autonomous puppets. In particular,
by appropriately timing the different movements, entire
plays can be performed. Such plays are produced by concatenating
sequences of motion primitives and a compiler optimizes
these sequences, using recent results in optimal switch-time
control. Experimental results illustrate the operation of the
proposed method.
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2008-05
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Proceedings