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TYPICAL: A Knowledge Representation System for Automated Discovery and Inference
(1987-08-01)
TYPICAL is a package for describing and making automatic inferences about a broad class of SCHEME predicate functions. These functions, called types following popular usage, delineate classes of primitive SCHEME ...
Error Detection and Recovery for Robot Motion Planning with Uncertainty
(1987-07-01)
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 ...
The Synthesis of Stable Force-Closure Grasps
(1986-07-01)
This thesis addresses the problem of synthesizing grasps that are force-closure and stable. The synthesis of force-closure grasps constructs independent regions of contact for the fingertips, such that the motion of ...
Learning by Failing to Explain
(1986-05-01)
Explanation-based Generalization requires that the learner obtain an explanation of why a precedent exemplifies a concept. It is, therefore, useless if the system fails to find this explanation. However, it is not ...
Manipulator Grasping and Pushing Operations
(1982-06-01)
The primary goal of this research is to develop theoretical tools for analysis, synthesis, application of primitive manipulator operations. The primary method is to extend and apply traditional tools of classical mechanics. ...
Motion Planning with Six Degrees of Freedom
(1984-05-01)
The motion planning problem is of central importance to the fields of robotics, spatial planning, and automated design. In robotics we are interested in the automatic synthesis of robot motions, given high-level ...
Parallelism in Manipulator Dynamics
(1984-12-01)
This paper addresses the problem of efficiently computing the motor torques required to drive a lower-pair kinematic chain (e.g., a typical manipulator arm in free motion, or a mechanical leg in the swing phase) given ...
Structure and Interpretation of Computer Programs
(1983-07-01)
"The Structure and Interpretation of Computer Programs" is the entry-level subject in Computer Science at the Massachusetts Institute of Technology. It is required of all students at MIT who major in Electrical ...
Presentation Based User Interface
(1984-08-01)
A prototype presentation system base is described. It offers mechanisms, tools, and ready-made parts for building user interfaces. A general user interface model underlies the base, organized around the concept of a ...
Finding Edges and Lines in Images
(1983-06-01)
The problem of detecting intensity changes in images is canonical in vision. Edge detection operators are typically designed to optimally estimate first or second derivative over some (usually small) support. Other ...