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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 ...
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 ...
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 ...
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 ...
Computers, Brains, and the Control of Movement
(1982-06-01)
Many of the problems associated with the planning and execution of human arm trajectories are illuminated by planning and control strategies which have been developed for robotic manipulators. This comparison may ...
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, ...