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Minimalist Mobile Robotics
book

Minimalist Mobile Robotics

by Jonathan H. Connell
December 2012
Intermediate to advanced content levelIntermediate to advanced
192 pages
7h 37m
English
Morgan Kaufmann
Content preview from Minimalist Mobile Robotics
60
3.
Manipulation
Again, we do not try to build a tactile model of the robot's
surroundings and then plan a path through it. Rather, the overall
pattern of actions is determined on the fly by the specific
configuration of the environment.
The collective behavior of this level bears a passing
similarity to the generalized damper control scheme [Lozano-
Pérez, Mason, and Taylor 84; Erdmann 85]. In these systems an
arm is given some velocity vector to follow. If the arm contacts a
surface and is unable to move directly along the commanded
direction, the velocity error is transformed into a force normal to
the surface. The manipulator is still
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Publisher Resources

ISBN: 9780080511719