Search
Now showing items 11-20 of 47
A Simple Motion Planning Algorithm for General Robot Manipulators
(1986-06-01)
This paper presents a simple and efficient algorithm, using configuration space, to plan collision-free motions for general manipulators. We describe an implementation of the algorithm for manipulators made up of ...
Simplifying Decision Trees
(1986-12-01)
Many systems have been developed for constructing decision trees from collections of examples. Although the decision trees generated by these methods are accurate and efficient, they often suffer the disadvantage of ...
Achieving Artificial Intelligence through Building Robots
(1986-05-01)
We argue that generally accepted methodologies of Artificial Intelligence research are limited in the proportion of human level intelligence they can be expected to emulate. We argue that the currently accepted ...
Contact Sensors for Dexterous Robotic Hands
(1986-06-01)
This thesis examines a tactile sensor and a thermal sensor for use with the Utah-MIT dexterous four fingered hand. Sensory feedback is critical or full utilization of its advanced manipulatory capabilities. The hand ...
AFL-1: A Programming Language for Massively Concurrent Computers
(1986-11-01)
Computational models are arising is which programs are constructed by specifying large networks of very simple computational devices. Although such models can potentially make use of a massive amount of concurrency, ...
Trajectory and Force Control of a Direct Drive Arm
(1986-09-01)
Using the MIT Serial Link Direct Drive Arm as the main experimental device, various issues in trajectory and force control of manipulators were studied in this thesis. Since accurate modeling is important for any ...
Toward a Requirements Apprentice: On the Boundary Between Informal and Formal Specifications
(1986-07-01)
Requirements acquisition is one of the most important and least well supported parts of the software development process. The Requirements Apprentice (RA) will assist a human analyst in the creation and modification ...
On Dynamic Models of Robot Force Control
(1986-07-01)
For precise robot control, endpoint compliance strategies utilize feedback from a force sensor located near the tool/workpiece interface. Such endpoint force control systems have been observed in the laboratory to be ...
Parallel Algorithms for Computer Vision on the Connection Machine
(1986-11-01)
The Connection Machine is a fine-grained parallel computer having up to 64K processors. It supports both local communication among the processors, which are situated in a two-dimensional mesh, and high-bandwidth ...
CAULDRONS: An Abstraction for Concurrent Problem Solving
(1986-09-01)
This research extends a tradition of distributed theories of mind into the implementation of a distributed problem solver. In this problem solver a number of ideas from Minsky's Society of Mind are implemented and are ...