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Control Strategies for Complex Movements Derived from Physical Systems Theory

  • Conference paper
Complex Systems — Operational Approaches in Neurobiology, Physics, and Computers

Part of the book series: Springer Series in Synergetics ((SSSYN,volume 31))

Abstract

The work presented here is part of an effort to develop a unified approach to the control of a system which may interact dynamically with its environment. The principal perceived problem is that when a controlled system interacts with its environment, its performance may be drastically altered. Even if the controlled system is stable in isolation, when it interacts with dynamic objects in its environment that stability may be jeopardised. This problem is particularly actue for a manipulator. Manipulation has been succintly described as a series of collisions between the manipulator and the objects in its environment [7]. Every time a manipulator grasps or releases an object, the dynamic behaviour of the physical system interfaced to the controller undergoes an abrupt change, and this change may have a profound effect on the manipulator’s behaviour.

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Author information

Authors and Affiliations

  1. Department of Mechanical Engineering, Massachusetts Institute of Technology, 77 Massachusetts Avenue, Room 3-449, Cambridge, MA, 02139, USA

    N. Hogan

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  1. N. Hogan
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Editor information

Editors and Affiliations

  1. Institut für Theoretische Physik, Universität Stuttgart, Pfaffenwaldring 57/IV, D-7000, Stuttgart 80, Fed. Rep. of Germany

    Hermann Haken

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© 1985 Springer-Verlag Berlin Heidelberg

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Hogan, N. (1985). Control Strategies for Complex Movements Derived from Physical Systems Theory. In: Haken, H. (eds) Complex Systems — Operational Approaches in Neurobiology, Physics, and Computers. Springer Series in Synergetics, vol 31. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-642-70795-7_11

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  • DOI: https://doi.org/10.1007/978-3-642-70795-7_11

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-642-70797-1

  • Online ISBN: 978-3-642-70795-7

  • eBook Packages: Springer Book Archive

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