Browsing MIT by Subject "srobotics"
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Collision Detection for Moving Polyhedra
(1984-10-01)We consider the problem of moving a three dimensional solid object among polyhedral obstacles. The traditional formulation of configuration space for this problem uses three translational parameters and three angles ...
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Planning and Teaching Compliant Motion Strategies
(1987-01-01)This thesis presents a new high level robot programming system. The programming system can be used to construct strategies consisting of compliant motions, in which a moving robot slides along obstacles in its ...