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Specialization of Perceptual Processes
In this report, I discuss the use of vision to support concrete, everyday activity. I will argue that a variety of interesting tasks can be solved using simple and inexpensive vision systems. I will provide a number ...
Series Elastic Actuators
This thesis presents the design, construction, control and evaluation of a novel force controlled actuator. Traditional force controlled actuators are designed from the premise that "Stiffer is better''. This approach ...
The Grasping Problem: Toward Task-Level Programming for an Articulated Hand
This report presents a system for generating a stable, feasible, and reachable grasp of a polyhedral object. A set of contact points on the object is found that can result in a stable grasp; a feasible grasp is found ...
Active Learning with Statistical Models
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 ...