Abstract
This paper proposes a Domain Specific Language to describe in a synthetic and comprehensive way, complex control problems for robotic systems. The proposed language, named Math of Tasks, abstracts from the mathematical description of the problem, which heavily depends on the particular algorithm chosen to solve it, relying on a set of operators and entities which instead, composed together, describes the behavior of the control problem. The Math of Tasks can describe any type of instantaneous controller regardless of the particular controlled variable (e.g., joint velocity, joint acceleration, contact forces). This paper shows the convenience of the proposed formalism using examples from classical control problems for different types of robotic platforms such as manipulators, humanoid bipeds, and quadrupeds.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callDisclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
