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Planning Robust Strategies for Constructing Multi-object Arrangements
(2017-01-30)
A crucial challenge in robotics is achieving reliable results in spite of sensing and control uncertainty. A prominent strategy for dealing with uncertainty is to construct a feedback policy, where actions are chosen as a ...
Interactive Simulation of Stylized Human Locomotion
(2008-08-01)
Animating natural human motion in dynamic environments is difficult because of complex geometric and physical interactions. Simulation provides an automatic solution to parts of this problem, but it needs control systems ...
Estimation of Inertial Parameters of Rigid Body Links of Manipulators
(1986-02-01)
A method of estimating the mass, the location of center of mass, and the moments of inertia of each rigid body link of a robot during general manipulator movement is presented. The algorithm is derived from the ...
Toward a Surface Primal Sketch
(1985-04-01)
This paper reports progress toward the development of a representation of significant surface changes in dense depth maps. We call the representation the Surface Primal Sketch by analogy with representation of intensity ...
Planning of Minimum-Time Trajectories for Robot Arms
(1984-11-01)
The minimum-time for a robot arm has been a longstanding and unsolved problem of considerable interest. We present a general solution to this problem that involves joint-space tesselation, a dynamic time-scaling ...
Artificial Intelligence and Robotics
(1984-02-01)
Since Robotics is the field concerned with the connection of perception to action, Artificial Intelligence must have a central role in Robotics if the connection is to be intelligent. Artificial Intelligence addresses ...
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 ...
Spatial Planning: A Configuration Space Approach
(1980-12-01)
This paper presents algorithms for computing constraints on the position of an object due to the presence of obstacles. This problem arises in applications which require choosing how to arrange or move objects among ...
On Solving The Findspace Problem, or How to Find Out Where Things Aren't ....
(MIT Artificial Intelligence Laboratory, 1973-03-29)