Phase regulation of decentralized cyclic robotic systems

International Journal of Robotics Research

Volumn 21, Issue 3, 2002, Pages 257-275

  Klavins, E ^a   Koditschek, D E ^b  

^a CALIFORNIA INSTITUTE OF TECHNOLOGY   (United States)

^b University of Michigan   (United States)

Author keywords

Behavior composition; Coupled oscillators; Hopping robots; Juggling robots

Indexed keywords

ALGORITHMS; CONTROL EQUIPMENT; COUPLINGS; FACTORY AUTOMATION; PHASE CONTROL; SYNCHRONIZATION;

DECENTRALIZED CYCLIC ROBOTIC SYSTEMS;

ROBOTICS;

EID: 0036523429     PISSN: 02783649     EISSN: None     Source Type: Journal    
DOI: 10.1177/027836402320556430     Document Type: Article

References (46)

1. Abadi, M., and Lamport, L. 1993. Composing specifications. ACM Transactions on Programming Languages and Systems 15(1):75-132.
2. Altendorfer, R., Saranli, U., Komsuoglu, H., Koditschek, D.E., Brown, B., McMordie, D., Moore, N., Buehler, M., and Full, R. 2000. Evidence for spring loaded inverted pendulum running in a hexapod robot. In International Symposium for Experimental Robotics, Honolulu, HI.
3. Arnold, V.I. 1991. Mathematical Methods of Classical Mechanics. Translated by K. Vogtmann and A. Weinstein. Springer, 2nd edition.
4. Beer, R., Quinn, R., Chiel, H., and Ritzmann, R. 1997. Biologically inspired approaches to robotics. Communications of the ACM 40(3):31-38.
5. Bloch, A.M., Krishnaprasad, P.S., Marsden, J.E., and Murray, R. 1996. Nonholonomic mechanical systems with symmetry. Archive for Rational Mechanics and Analysis 136:21-99.
6. Brockett, R.W. 1983. Asymptotic stability and feedback stabilization. In Differential Geometric Control, eds. R.W. Brockett, R.S. Millman, and H.J. Sussman, chap. 3, 181-191. Birkhäuser.
7. Bühler, M., Koditschek, D.E., and Kindlmann, P.J. 1990. A family of control strategies for intermittent dynamical environments. IEEE Control Systems Magazine 10(2): 16-22.
8. Bühler, M., Koditschek, D.E., and Kindlmann, P.J. 1994. Planning and control of robotic juggling and catching tasks. International Journal of Robotics Research 13(2).
9. Burridge, R., Rizzi, A., and Koditschek, D.E. 1999. Sequential composition of dynamically dexterous robot behaviors. International Journal of Robotics Research 18(6):534-555.
10. Calvitti, A., and Beer, R.D. 2000. Analysis of a distributed model of leg coordination. I. Individual Coordination Mechanisms. Biological Cybernetics 82(3): 197-206.
11. Charpentier, M., and Chandy, K.M. 1999. Towards a compositional approach to the design and verification of distributed systems. In World Congress on Formal Methods in the Development of Computing Systems (FM'99), Volume 1708 of Lecture Notes in Computer Science, eds. J. Wing, J. Woodcock, and J. Davies, 570-589. Springer-Verlag.
12. Cohen, A.H., Holmes, P.J., and Rand, R.H. 1982. The nature of the coupling between segmental oscillators of the lamprey spinal generator for locomotion: A mathematical model. Journal of Mathematical Biology 13:345-369.
13. Cohen, Avis H., Rossignol, Serge, and Grillner, Sten (eds.). Neural Control of Rhythmic Movements in Vertebrates. NY: Wiley Inter-Science.
14. Cruse, H. 1990. What mechanisms coordinate leg movement in walking arthropods? Trends in Neurosciences 13:15-21.
15. Delcomyn, F. 1980. Neural basis of rhythmic behavior in animals. Science.
16. Donald, B.R., Suh, J., Darling, R.B., Böhringer, K.-F., Baltes, H., and Kovacs, G. 1999. Cmos integrated organic ciliary actuator arrays for general-purpose micromanipulation tasks. Journal of Microelectromechanical Systems 8(4):483-496.
17. Ermentrout, G.B., and Kopell, N. 1994. Inhibition-produced patterning in chains of coupled nonlinear oscillators. SIAM Journal of Applied Mathematics 54:478-507.
18. Full, R.J., and Koditschek, D.E. 1999. Templates and anchors: Neuromechanical hypotheses of legged locomotion. Journal of Experimental Biology 202(23):3325-3332.
19. Guckenheimer, J., and Holmes, P. 1983. Nonlinear Oscillations, Dynamical Systems, and Bifurcations of Vector Fields. New York: Springer-Verlag.
20. Hirsch, M.W., and Smale, S. 1974. Differential Equations, Dynamical Systems, and Linear Algebra. Academic Press.
21. Hu, J.J. 2000. Stable Locomotion Control of Bipedal Walking Robots: Synchronization with Neural Oscillators and Switching Control. PhD thesis, Department of Electrical Engineering and Computer Science, Massachusetts Institute of Technology.
22. Klavins, E. 2000. Automatic compilation of concurrent hybrid factories form product assembly specifications. In Hybrid Systems: Computation and Control Workshop, Third International Workshop, Pittsburgh, PA.
23. Klavins, E. 2000. The construction of attention functions for phase regulation. Technical Report CSE-TR-422-00, University of Michigan.
24. Klavins, E., Koditschek, D.E., and Ghrist, R. 2000. Toward the regulation and composition of cyclic behaviors. In Proc. Fourth International Workshop on the Algorithmic Foundations of Robotics 2000, Dartmouth, NH.
25. Klavins, E., Koditschek, D.E. 2000. A formalism for the composition of concurrent robot behaviors. In Proc. IEEE Conference on Robotics and Automation.
26. Klavins, E., Komsuoglu, H., Koditschek, D.E., and Full, R.J. 2001. The role of reflexes versus central pattern generators in dynamical legged locomotion. In Neurotechnology for Biomimetic Robots. MIT Press.
27. Koditschek, D.E. 1989. The application of total energy as a lyapunov function for mechanical control systems. In Control Theory and Multibody Systems, Vol. 97 of AMS Series in Contemporary Mathematics, eds. J. Marsden, Krishnaprasad, and J. Simo, 131-158.
28. Koditschek, D.E., and Bühler, M. 1991. Analysis of a simplified hopping robot. International Journal of Robotics Research 10(6):587-605.
29. Kopell, N. 1995. Chains of coupled oscillators. In Handbook of Brain Theory and Neural Networks, ed. M. Arbib, 178-183. Cambridge: MIT Press.
30. LaSalle, J.P. 1961. Stability by Liapunov's direct method. Mathematics in science and engineering, vol. 4. New York: Academic Press.
31. Lewis, M.A., Etienne-Cummings, R., Cohen, A.H., and Hartmann, M. 2000. Toward biomorphic control using custom AVLSI chips. In Proceedings of the 2000 International Conference on Robotics and Automation, San Francisco.
32. Lozano-Perez, T., and Mason, M.T. 1984. Automatic synthesis of fine-motion strategies for robots. International Journal of Robotics Research 3(1):3-24.
33. Lynch, N. 1996. Distrbuted Algorithms. Morgan Kaufman.
34. Nakanishi, J., Fukuda, T., and Koditschek, D.E. 2000. A brachiating robot controller. IEEE Transactions on Robotics and Automation 16(2):109-123.
35. Ostrowski, J., Desai, J.P., and Kumar, V. 1998. Optimal gait selection for nonholonomic locomotion systems. International Journal of Robotics Research 19(3):225-237.
36. Park, E., Tilbury, D.M., and Khargonekar, P.P. Forthcoming. 1999. Modular logic controller for maching systems: Formal representation and performance analysis using petri nets. IEEE Transactions on Robotics and Automation 15(6): 1046-1061.
37. Pearson, K. 1973. The control of walking. Scientific American 235(6):72-86.
38. Pratt, G.A., and Nguyen, J. 1995. Distributed synchronous clocking. IEEE Transactions on Parallel and Distributed Systems 6(3):314-328.
39. Raibert, M.H., Brown, H.B., and Chepponis, M. 1984. Experiments in balance with a 3D one-legged hopping machine. International Journal of Robotics Research 3:75-92.
40. Reif, J.H., and Wang, H. 1999. Social potential fields: A distributed behavioral control for autonomous robots. Robotics and Autonomous Systems 27(3): 171-194.
41. Rizzi, A.A., Gowdy, J., and Hollis, R.L. 1999. Distributed programming and coordination for agent-based modular automation. In The Ninth International Symposium of Robotics Research, Snowbird, Utah.
42. Rizzi, A.A., and Koditschek, D.E. 1993. Further progress in robot juggling: Solvable mirror laws. In Proc. IEEE International Conference on Robotics and Automation, Atlanta, GA.
43. Rizzi, A.A., Whitcomb, L.L., and Koditschek, D.E. 1992. Distributed real-time control of a spatial robot juggler. IEEE Computer 25(5): 12-26.
44. Saranli, U., Buehler, M., and Koditschek, D.E. 2000. Design, modeling and preliminary control of a compliant hexapod robot. In Proc. IEEE Conference on Robotics and Automation.
45. Saranli, U., Schwind, W.J., and Koditschek, D.E. 1998. Toward the control of a multi-jointed monoped runner. In Proc. IEEE Conference on Robotics and Automation, 2676-2682.
46. Tennenhouse, D. 2000. Proactive computing. Communications of the ACM 43(5):43-50.