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Active Learning with Statistical Models
(1995-03-21)
For many types of learners one can compute the statistically 'optimal' way to select data. We review how these techniques have been used with feedforward neural networks. We then show how the same principles may be ...
Automatic Synthesis of Fine-Motion Strategies for Robots
(1983-12-01)
The use of active compliance enables robots to carry out tasks in the presence of significant sensing and control errors. Compliant motions are quite difficult for humans to specify, however. Furthermore, robot programs ...
Redundancy Resolution of Manipulators through Torque Optimization
(1986-01-01)
Methods for resolving kinematic redundancies of manipulators by the effect on joint torque are examined. When the generalized inverse is formulated in terms of accelerations and incorporated into the dynamics, the ...
An Approach to Automatic Robot Programming
(1985-04-01)
In this paper we propose an architecture for a new task-level system, which we call TWAIN. Task-level programming attempts to simplify the robot programming process but requiring that the user specify only goals for ...