An autonomous robotic manipulator can reduce uncertainty in the locations of objects in either of two ways: by sensing, or by motion strategies. This paper explores the use of motion strategies to eliminate uncertaint...
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An autonomous robotic manipulator can reduce uncertainty in the locations of objects in either of two ways: by sensing, or by motion strategies. This paper explores the use of motion strategies to eliminate uncertainty, without the use of sensors. The approach is demonstrated within the context of a simple method to orient planar objects. A randomly oriented object is dropped into a tray. When the tray is tilted, the object can slide into walls, along walls, and into corners, sometimes with the effect of reducing the number of possible orientations. For some objects a sequence of tilting operations exists that leaves the object's orientation completely determined. The paper describes an automatic planner that constructs such a tilting program, using a simple model of the mechanics of sliding. The planner has been implemented, the resulting programs have been executed using a tray attached to an industrial manipulator, and sometimes the programs work. The paper also explores the issue of sensorless manipulation, tray-tilting in particular, within the context of a formal framework first described by Lozano-Pérez, Mason, and Taylor [1984]. It is observed that sensorless motion strategies perform conditional actions using mechanical decisions in place of environmental inquiries.
Abstract: Families of finite metric spaces are investigated. A notion of metric type is introduced and it is shown that for Banach spaces it is consistent with the standard notion of type. A theorem parallel t...
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Abstract: Families of finite metric spaces are investigated. A notion of metric type is introduced and it is shown that for Banach spaces it is consistent with the standard notion of type. A theorem parallel to the Maurey-Pisier Theorem in Local Theory is proved. Embeddings of ${l_p}$-cubes into the ${l_1}$-cube (Hamming cube) are discussed.
This paper considers the problem of steering a redundant manipulator from an initial to a final position in the work space (Cartesian space). An optimal control approach is employed, to avoid obstacles in the work spa...
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This paper considers the problem of steering a redundant manipulator from an initial to a final position in the work space (Cartesian space). An optimal control approach is employed, to avoid obstacles in the work space and simultaneously avoid the kinematically singular configurations throughout the trajectory.
In this paper we explore a method for automatic planning of robot fine-motion programs, first described in [Lozano-Pérez, Mason, and Taylor 1983]. The primary result is a variation that is shown to be "bound...
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This paper describes a new VLSI tactile array sensor that was designed for use on the fingers of a robot manipulator. The photolithographic methods used in fabricating the microelectronics were also used to build an a...
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This paper describes a new VLSI tactile array sensor that was designed for use on the fingers of a robot manipulator. The photolithographic methods used in fabricating the microelectronics were also used to build an a...
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This paper describes a new VLSI tactile array sensor that was designed for use on the fingers of a robot manipulator. The photolithographic methods used in fabricating the microelectronics were also used to build an array of mechanical structures on top of an integrated circuit. When covered with a suitable elastic material, the mechanical structures, notch-shaped windows in the protective overglass, convert applied pressure directly into a set of switch-like closures. The data obtained from these switch closures are multiplexed by logic in the circuit before transmission to a host, thereby reducing the wiring problem associated with discrete array sensors. A prototype with 48 cells arranged in a 6 by 8 array is currently being built.
In this paper we explore a method for automatic planning of robot fine-motion programs, first described in [Lozano-Pérez, Mason, and Taylor 1983]. The primary result is a variation that is shown to be "bound...
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In this paper we explore a method for automatic planning of robot fine-motion programs, first described in [Lozano-Pérez, Mason, and Taylor 1983]. The primary result is a variation that is shown to be "bounded-complete"-the method obtains a solution whenever a solution consisting of a bounded number of motions exists.
This paper describes the design concept of a new robot based on the direct-drive method using rare-earth d-c torque motors. Because these motors have high torque, light weight and compact size, we can construct robots...
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A new type of tactile sensor is presented that was designed to give a robot manipulation system information about contact between its hand and objects in the environment. A description is given of a device that is at ...
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A new type of tactile sensor is presented that was designed to give a robot manipulation system information about contact between its hand and objects in the environment. A description is given of a device that is at once a special-purpose parallel computer and a high-resolution tactile array sensor. The passive substrates of earlier tactile sensors have been replaced with a custom-designed very large scale integration (VLSI) device that performs transduction, tactile image processing, and communication. Forces are transduced using a conductive plastic technique in conjunction with metal electrodes on the surface of an integrated circuit. An array of processors implemented within the integrated circuit perform parallel two-dimensional convolutions between programmable filtering masks and a binary tactile image.
Abstract In this article we discuss a method for learning useful conditions on the application of operators during heuristic search Since learning is not attempted until a complete solution path has been found for a p...
Abstract In this article we discuss a method for learning useful conditions on the application of operators during heuristic search Since learning is not attempted until a complete solution path has been found for a problem, credit for correct moves and blame for incorrect moves is easily assigned We review four learning systems that have incorporated similar techniques to learn in the domains of algebra, symbolic integration, and puzzle-solving We conclude that the basic approach of learning from solution paths can be applied to any situation in which problems can be solved by sequential search Finally, we examine some potential difficulties that may arise in more complex domains, and suggest some possible extensions for dealing with them.
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