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Toward the regulation and composition of cyclic behaviors. (English) Zbl 0993.70009

Donald, Bruce Randall (ed.) et al., Algorithmic and computational robotics: new directions. The 4th workshop on the algorithmic foundations of robotics, WAFR 2000, Dartmouth College, Dartmouth, MA, USA, March 16-18, 2000. Natick, MA: A. K. Peters. 205-219 (2000).
Since many tasks in robotics and automation require a cyclic exchange of energy between a machine and its environment, the authors develop here an appropriate theoretical setting for framing these problems and propose a general method for regulating coupled cyclic systems. The method is applied to three examples.
For the entire collection see [Zbl 0962.00009].

MSC:

70E60 Robot dynamics and control of rigid bodies
70Q05 Control of mechanical systems
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