A partial solution to the problem of fitting a robot hand to an object in a given environment is presented. Information provided by a set of fingertip contact regions or by a grasp prototype is exploited to efficientl...
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A partial solution to the problem of fitting a robot hand to an object in a given environment is presented. Information provided by a set of fingertip contact regions or by a grasp prototype is exploited to efficiently compute the space of wrist configurations from which the grasp specifications can be met. The size and shape of this solution space reflect the constraints imposed by the environment geometry; they can be used to compare a grasp to others or to resolve grasp symmetries, e.g., in a wrap grasp of a cylinder. A quality metric computed over the solution space can be used to optimize a grasp. A general method is described for computing this solution space, and a parallel implementation is presented. Examples demonstrate grasp comparison and symmetry resolution.< >
A computational, constructive theory of tunable, open loop trajectory skills is presented. A skill is a controller whose outputs achieve any of a family of tasks in a space characterized by n parameters, n>1. Learn...
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A computational, constructive theory of tunable, open loop trajectory skills is presented. A skill is a controller whose outputs achieve any of a family of tasks in a space characterized by n parameters, n>1. Learning consists of a search for the best skill output generation scheme. An interpretation process maps skill outputs into sequences of commands for the plant by using basis functions. It is claimed that appropriate basis functions can speed up the learning process and overcome the limitations of a linear trajectory tuning algorithm. A skill learning algorithm and experiments done with various basis functions for a one-dimensional throwing task are described. Table lookup alternatives and whether modifications might make them feasible in this domain are considered.< >
An integrated approach to local as well as global path planning of the robot in stationary environments is proposed. To provide effectiveness, the path planning is based on the artificial potential field method and to...
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An integrated approach to local as well as global path planning of the robot in stationary environments is proposed. To provide effectiveness, the path planning is based on the artificial potential field method and to ensure robustness, the susceptibility to local minima is reduced by using some heuristic strategies. The simulated annealing technique is applied when trapped in local minima. The effectiveness of the proposed algorithms for local and global path planning is verified by a series of simulations. The performance of simulated annealing is evaluated by examining the effects of changing the various annealing parameters. The choices that improve simulated annealing performance are described.< >
The Robot Systems Division (RSD) at the National Institute of Standards and Technology (NIST) has developed a generic reference model architecture, known as the Real-time Control System (RCS). The application of RCS t...
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The Robot Systems Division (RSD) at the National Institute of Standards and Technology (NIST) has developed a generic reference model architecture, known as the Real-time Control System (RCS). The application of RCS to the automation of submarine operations is demonstrated which requires that an enormous amount of intelligence be built into its control system. A summary of the reference model is given, followed by a description of the implementation process. The long term goal is to establish a generic development methodology for intelligent control systems.< >
Planning is the creation of programs to control an agent, such as a robot. The genetic planner uses artificial selection, sexual mixing (recombination) and fitness proportionate reproduction to breed computer programs...
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Planning is the creation of programs to control an agent, such as a robot. The genetic planner uses artificial selection, sexual mixing (recombination) and fitness proportionate reproduction to breed computer programs (i.e., to plan). The genetic planner uses a simulation of the world to execute candidate computer programs (i.e., candidate plans). The genetic planner is described, with an example of it at work on a simple problem-a robot on a 2-D grid.< >
The authors introduce a procedure to determine the set of essential parameters of a robot manipulator dynamic model. Then they use the Lyapunov stability theory to construct an adaptive control algorithm based on the ...
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The authors introduce a procedure to determine the set of essential parameters of a robot manipulator dynamic model. Then they use the Lyapunov stability theory to construct an adaptive control algorithm based on the model containing only the parameters that belong to the determined set. The proposed control algorithm is computationally efficient and it requires neither inversion of the manipulator inertial matrix nor joint acceleration measurement. Asymptotic stability of the proposed control algorithm is proved.< >
By real-time artificial intelligence (AI) planning systems, we mean those systems embedded in process-control systems that must plan and execute control strategies in response to external events within a real-time con...
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By real-time artificial intelligence (AI) planning systems, we mean those systems embedded in process-control systems that must plan and execute control strategies in response to external events within a real-time constraint. We propose a methodology for estimating the reliability of uniprocessor and multiprocessor real-time AI planning systems. We first discuss why there are intrinsic faults in AI planning programs that must be considered in the reliability modeling of real-time AI planning systems. Then, we show that for uniprocessor systems, no single planning algorithm can avoid all types of intrinsic faults. Finally, we investigate a multiprocessor architecture with parallel planning with the objective of reducing intrinsic faults of real-time AI planning systems and improving the reliability of embedded systems. A robot path-planning system in static domains is used as an example to illustrate our methodology.
We study two problems related to planar motion planning for robots with imperfect control, where, if the robot starts a linear movement in a certain commanded direction, we only know that its actual movement will be c...
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This paper describes a robot vision golfing system. The Automated. Robotic Navigational unit with Intelligent Eye and Putter (ARN1E P)r project was initiated to investigate the problems and develop software solutions ...
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