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Browsing Computer Science and Artificial Intelligence Lab (CSAIL) by Title

Research and Teaching Output of the MIT Community

Browsing Computer Science and Artificial Intelligence Lab (CSAIL) by Title

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  • Eberman, Brian Scott (1995-05-01)
    This paper describes a new statistical, model-based approach to building a contact state observer. The observer uses measurements of the contact force and position, and prior information about the task encoded in a ...
  • Bicchi, Antonio; Salisbury, J. Kenneth; Brock, David L. (1990-10-01)
    This paper addresses contact sensing, i.e. the problem of resolving the location of a contact, the force at the interface and the moment about the contact normals. Called "intrinsic'' contact sensing for the use of ...
  • Siegel, David Mark (1986-06-01)
    This thesis examines a tactile sensor and a thermal sensor for use with the Utah-MIT dexterous four fingered hand. Sensory feedback is critical or full utilization of its advanced manipulatory capabilities. The hand ...
  • Torralba, Antonio; Murphy, Kevin P.; Freeman, William T.; Rubin, Mark A. (2003-03-19)
    While navigating in an environment, a vision system has to be able to recognize where it is and what the main objects in the scene are. In this paper we present a context-based vision system for place and object ...
  • Morency, Louis-Philippe (2006-11-15)
    During face-to-face conversation, people use visual feedback (e.g.,head and eye gesture) to communicate relevant information and tosynchronize rhythm between participants. When recognizing visualfeedback, people often rely ...
  • Torralba, Antonio (2004-04-14)
    This article describes a model for including scene/context priors in attention guidance. In the proposed scheme, visual context information can be available early in the visual processing chain, in order to modulate the ...
  • Torralba, Antonio (2004-04-14)
    This article describes a model for including scene/context priors in attention guidance. In the proposed scheme, visual context information can be available early in the visual processing chain, in order to modulate the ...
  • Torralba, Antonio; Murphy, Kevin P.; Freeman, William T. (2004-06-25)
    We seek to both detect and segment objects in images. To exploit both local image data as well as contextual information, we introduce Boosted Random Fields (BRFs), which uses Boosting to learn the graph structure and local ...
  • Torralba, Antonio; Murphy, Kevin P.; Freeman, William T. (2004-06-25)
    We seek to both detect and segment objects in images. To exploit both local image data as well as contextual information, we introduce Boosted Random Fields (BRFs), which uses Boosting to learn the graph structure and ...
  • Torralba, Antonio; Sinha, Pawan (2001-09-01)
    There is general consensus that context can be a rich source of information about an object's identity, location and scale. In fact, the structure of many real-world scenes is governed by strong configurational rules akin ...
  • Bachrach, Jonathan; Beal, Jacob; Fujiwara, Takeshi (2007-07)
    A spatial computer is a collection of devices filling spacewhose ability to interact is strongly dependent on theirproximity. Previously, we have showed that programmingsuch a computer as a continuous space can allow ...
  • Poggio, Tomaso; Girosi, Federico (1990-12-01)
    Marroquin and Ramirez (1990) have recently discovered a class of discrete stochastic cellular automata with Gibbsian invariant measures that have a non-reversible dynamic behavior. Practical applications include more ...
  • Bachelder, Ivan A. (1992-04-01)
    Partial constraints are often available in visual processing tasks requiring the matching of contours in two images. We propose a non- iterative scheme to determine contour matches using locally affine transformations. ...
  • Bradley, Elizabeth (1991-10-01)
    Control algorithms which exploit the unique properties of chaos can vastly improve the design and performance of many practical and useful systems. The program Perfect Moment is built around such an algorithm. Given ...
  • Bradley, Elizabeth (1991-03-01)
    This paper presents techniques that actively exploit chaotic behavior to accomplish otherwise-impossible control tasks. The state space is mapped by numerical integration at different system parameter values and ...
  • Blackmore, Lars; Block, Steve (2006-02-28)
    The objective of this project is to achieve reliable transfer of an object from one robotic manipulator to another. This capability is useful for a number of applications, for instance robotic assembly, or robots with ...
  • Raibert, Marc (1977-04-01)
    This is the second of a two part presentation of a model for motor control and learning. The model was implemented using a small computer and the MIT -Scheinman manipulator. Experiments were conducted which demonstrate ...
  • Dunlavey, Michael R. (MIT Artificial Intelligence Laboratory, 1975-08)
    This memo describes a vision program for recognizing simple furniture comprising assemblies of blocks, in which the same item may be composed in diverse ways. As such, it is concerned with three theoretical issues, perceptual ...
  • Lim, Kuk Huang (1981-02-01)
    The dynamics and control of tendon driven three degree of freedom shoulder joint are studied. A control scheme consisting of two phases has been developed. In the first phase, approximation of the time optimal control ...
  • Bennett, David J. (1990-05-01)
    A serial-link manipulator may form a mobile closed kinematic chain when interacting with the environment, if it is redundant with respect to the task degrees of freedom (DOFs) at the endpoint. If the mobile closed chain ...
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