Title:
Timing Control of Switched Systems with Applications to Robotic Marionettes
Timing Control of Switched Systems with Applications to Robotic Marionettes
Author(s)
Martin, Patrick
Egerstedt, Magnus B.
Egerstedt, Magnus B.
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Abstract
We present an optimal timing control formulation for 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. Additionally, we apply saddle-point techniques
to approach the problem of timing constraints among interconnected puppets. Experimental results illustrate the operation of the proposed methods.
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Date Issued
2010-05
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Text
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Pre-print