Optimal Timing Control of Interconnected, Switched Systems with Applications to Robotic Marionettes

Martin, Patrick; Egerstedt, Magnus B.

Title:

Optimal Timing Control of Interconnected, Switched Systems with Applications to Robotic Marionettes

dc.contributor.author	Martin, Patrick
dc.contributor.author	Egerstedt, Magnus B.
dc.contributor.corporatename	Georgia Institute of Technology. School of Electrical and Computer Engineering
dc.contributor.corporatename	Georgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.date.accessioned	2011-04-20T14:30:56Z
dc.date.available	2011-04-20T14:30:56Z
dc.date.issued	2008-05
dc.description	(c) 2008 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other users, including reprinting/ republishing this material for advertising or promotional purposes, creating new collective works for resale or redistribution to servers or lists, or reuse of any copyrighted components of this work in other works.	en_US
dc.description	Digital Object Identifier : 10.1109/WODES.2008.4605938
dc.description.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.	en_US
dc.identifier.citation	P. Martin and M. Egerstedt. Optimal Timing Control of Interconnected, Switched Systems with Applications to Robotic Marionettes. Workshop on Discrete Event Systems,, Gothenburg, Sweden, May 2008.	en_US
dc.identifier.isbn	978-1-4244-2592-1
dc.identifier.uri	http://hdl.handle.net/1853/38634
dc.language.iso	en_US	en_US
dc.publisher	Georgia Institute of Technology	en_US
dc.publisher.original	Institute of Electrical and Electronics Engineers
dc.subject	Optimal timing control	en_US
dc.subject	Motion control	en_US
dc.subject	Autonomous puppets	en_US
dc.title	Optimal Timing Control of Interconnected, Switched Systems with Applications to Robotic Marionettes	en_US
dc.type	Text
dc.type.genre	Proceedings
dspace.entity.type	Publication
local.contributor.author	Egerstedt, Magnus B.
local.contributor.corporatename	School of Electrical and Computer Engineering
local.contributor.corporatename	College of Engineering
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