Search
Now showing items 31-40 of 46
The Combinatorics of Local Constraints in Model-Based Recognition and Localization from Sparse Data
(1986-03-01)
The problem of recognizing what objects are where in the workspace of a robot can be cast as one of searching for a consistent matching between sensory data elements and equivalent model elements. In principle, this ...
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 ...
Estimation of Inertial Parameters of Rigid Body Links of Manipulators
(1986-02-01)
A method of estimating the mass, the location of center of mass, and the moments of inertia of each rigid body link of a robot during general manipulator movement is presented. The algorithm is derived from the ...
On Multiple Moving Objects
(1986-05-01)
This paper explores the motion planning problem for multiple moving objects. The approach taken consists of assigning priorities to the objects, then planning motions one object at a time. For each moving object, the ...
A Closed Form Solution for Inverse Kinematics of Robot Manipulator with Redundancy
(1986-03-01)
A closed form equation for inverse kinematics of manipulator with redundancy is derived, using the Lagrangian multiplier method. The proposed equation is proved to provide the exact equilibrium state for the resolved ...
Program Translation via Abstraction and Reimplementation
(1986-12-01)
Essentially all program translators (both source-to-source translators and compilers) operate via transliteration and refinement. This approach is fundamentally limited in the quality of the output it can produce. In ...
Revised Report on the Algorithmic Language Scheme
(1986-09-01)
Data and procedures and the values they amass, Higher-order functions to combine and mix and match, Objects with their local state, the message they pass, A property, a package, the control of point for a catch- In the ...
The Coupled Depth/Slope Approach to Surface Reconstruction
(1986-06-01)
Reconstructing a surface from sparse sensory data is a well known problem in computer vision. Early vision modules typically supply sparse depth, orientation and discontinuity information. The surface reconstruction ...
Automated Assembly Using Feature Localization
(1986-12-01)
Automated assembly of mechanical devices is studies by researching methods of operating assembly equipment in a variable manner; that is, systems which may be configured to perform many different assembly operations ...
Transcendence, Facticity, and Modes of Non-Being
(MIT Artificial Intelligence Laboratory, 1986-03)
Research in artificial intelligence has yet to satisfactorily address the primordial fissure between human consciousness and the material order. How is this split reconciled in terms of human reality? By what duality is ...