Browsing MIT by Subject "robotics"
Now showing items 21-34 of 34
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Planning Robust Strategies for Constructing Multi-object Arrangements
(2017-01-30)A crucial challenge in robotics is achieving reliable results in spite of sensing and control uncertainty. A prominent strategy for dealing with uncertainty is to construct a feedback policy, where actions are chosen as a ...
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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 ...
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Robot Programming
(1982-12-01)The industrial robot's principal advantage over traditional automation is programmability. Robots can perform arbitrary sequences of pre-stored motions or of motions computed as functions of sensory input. This paper ...
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Roles of Knowledge in Motor Learning
(1987-02-01)The goal of this thesis is to apply the computational approach to motor learning, i.e., describe the constraints that enable performance improvement with experience and also the constraints that must be satisfied by ...
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Series Elastic Actuators
(1995-09-07)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 ...
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Solving the Find-Path Problem by Representing Free Space as Generalized Cones
(1982-05-01)Free space is represented as a union of (possibly overlapping) generalized cones. An algorithm is presented which efficiently finds good collision free paths for convex polygonal bodies through space littered with ...
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Spatial Planning: A Configuration Space Approach
(1980-12-01)This paper presents algorithms for computing constraints on the position of an object due to the presence of obstacles. This problem arises in applications which require choosing how to arrange or move objects among ...
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Specialization of Perceptual Processes
(1995-04-22)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 ...
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A Subdivision Algorithm in Configuration Space for Findpath with Rotation
(1982-12-01)A hierarchical representation for configuration space is presented, along with an algorithm for searching that space for collision-free paths. The detail of the algorithm are presented for polygonal obstacles and a ...
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Symbolic Error Analysis and Robot Planning
(1982-09-01)A program to control a robot manipulator for industrial assembly operations must take into account possible errors in parts placement and tolerances of the parts themselves. Previous approaches to this problem have been ...
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Task-Level Robot Learning: Ball Throwing
(1987-12-01)We are investigating how to program robots so that they learn tasks from practice. One method, task-level learning, provides advantages over simply perfecting models of the robot's lower level systems. Task-level ...
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Team MIT Urban Challenge Technical Report
(2007-12-14)This technical report describes Team MIT s approach to theDARPA Urban Challenge. We have developed a novel strategy forusing many inexpensive sensors, mounted on the vehicle periphery,and calibrated with a new cross-modal ...
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Toward a Surface Primal Sketch
(1985-04-01)This paper reports progress toward the development of a representation of significant surface changes in dense depth maps. We call the representation the Surface Primal Sketch by analogy with representation of intensity ...
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Workshop on the Design and Control of Dextrous Hands
(1982-04-01)The Workshop for the Design and Control of Dexterous Hands was held at the MIT Artificial Intelligence Laboratory on November 5-6, 1981. Outside experts were brought together to discuss four topics: kinematics of hands, ...