For many types of learners one can compute the statistically 'optimal' way to select data. We review how these techniques have been used with feedforward neural networks. We then show how the same principles may be ...

In this paper we propose an architecture for a new task-level system, which we call TWAIN. Task-level programming attempts to simplify the robot programming process but requiring that the user specify only goals for ...

Since Robotics is the field concerned with the connection of perception to action, Artificial Intelligence must have a central role in Robotics if the connection is to be intelligent. Artificial Intelligence addresses ...

This paper deals with the class of problems that involve finding where to place or how to move a solid object in the presence of obstacles. The solution to this class of problems is essential to the automatic planning ...

The use of active compliance enables robots to carry out tasks in the presence of significant sensing and control errors. Compliant motions are quite difficult for humans to specify, however. Furthermore, robot programs ...

Over the past decade it has become increasingly clear that to understand the brain, we must study not only its biochemical and biophysical mechanisms and its outward perceptual and physical behavior. We also must study ...

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 ...

Dynamic systems which undergo rapid motion can excite natural frequencies that lead to residual vibration at the end of motion. This work presents a method to shape force profiles that reduce excitation energy at the ...

This paper continues our work on visual representation s of three-dimensional surfaces [Brady and Yuille 1984b]. The theoretical component of our work is a study of classes of surface curves as a source of constraint ...

The main goal of this thesis is to demonstrate the applicability of the distributed systems paradigm to robotic systems. This goal is accomplished by presenting two solutions to the Distributed Area Search problem: organizing ...

This report documents our work in exploring active balance for dynamic legged systems for the period from September 1985 through September 1989. The purpose of this research is to build a foundation of knowledge that ...

Robots must plan and execute tasks in the presence of uncertainty. Uncertainty arises from sensing errors, control errors, and uncertainty in the geometry of the environment. The last, which is called model error, has ...

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 ...

In this paper, I describe the application of genetic programming to evolve a controller for a robotic tank in a simulated environment.The purpose is to explore how genetic techniques can best be applied to produce controllers ...

In this paper, I describe the application of genetic programming to evolve a controller for a robotic tank in a simulated environment. The purpose is to explore how genetic techniques can best be applied to produce ...

This report presents a system for generating a stable, feasible, and reachable grasp of a polyhedral object. A set of contact points on the object is found that can result in a stable grasp; a feasible grasp is found ...

Animating natural human motion in dynamic environments is difficult because of complex geometric and physical interactions. Simulation provides an automatic solution to parts of this problem, but it needs control systems ...

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 ...

The minimum-time for a robot arm has been a longstanding and unsolved problem of considerable interest. We present a general solution to this problem that involves joint-space tesselation, a dynamic time-scaling ...