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Symbolic Error Analysis and Robot Planning
(1982-09-01)
A program to control a robot manipulator for industrial assembly operations must take into account possible errors in parts placement and tolerances of the parts themselves. Previous approaches to this problem have been ...
A Subdivision Algorithm in Configuration Space for Findpath with Rotation
(1982-12-01)
A hierarchical representation for configuration space is presented, along with an algorithm for searching that space for collision-free paths. The detail of the algorithm are presented for polygonal obstacles and a ...
Planning is Just a Way of Avoiding Figuring Out What To Do Next
(MIT Artificial Intelligence Laboratory, 1987-09)
The idea of planning and plan execution is just an intuition based decomposition. There is no reason it has to be that way. Most likely in the long term, real empirical evidence from systems we know to be built that way ...
Herbert: A Second Generation Mobile Robot
(1988-01-01)
In mobile robot research we believe the structure of the platform, its capabilities, the choice of sensors, their capabilities, and the choice of processors, both onboard and offboard, greatly constrains the direction of ...
Fast, Cheap and Out of Control
(1989-12-01)
Spur-of-the-moment planetary exploration missions are within our reach. Complex systems and complex missions usually take years of planning and force launches to become incredibly expensive. We argue here for cheap, ...
Twilight Zones and Cornerstones: A Gnat Robot Double Feature
(1989-07-01)
We want to build tiny gnat-sized robots, a millimeter or two in diameter. They will be cheap, disposable, totally self-contained autonomous agents able to do useful things in the world. This paper consists of two parts. ...
A Mobile Robot Project
(MIT Artificial Intelligence Laboratory, 1985-02)
We are building a mobile robot which will roam around the AI lab observing and later perhaps doing. Our approach to building the robot and its controlling software differs from that used in many other projects in a number ...
Planning Collision Free Motions for Pick and Place Operations
(1983-05-01)
An efficient algorithm which finds collision free paths for a manipulator with 5 or 6 revolute joints is described. It solves the problem for four degree of freedom pick and place operations. Examples are given of paths ...
Solving the Find-Path Problem by Representing Free Space as Generalized Cones
(1982-05-01)
Free space is represented as a union of (possibly overlapping) generalized cones. An algorithm is presented which efficiently finds good collision free paths for convex polygonal bodies through space littered with ...
Piezoelectric Micromotors for Microrobots
(1991-02-01)
By combining new robot control systems with piezoelectric motors and micromechanics, we propose creating micromechanical systems which are small, cheap and completely autonomous. We have fabricated small - a few ...