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Smoothed Local Symmetries and Their Implementation
(1984-02-01)
We introduce a novel representation of two-dimensional shape that we call smoothed local symmetries (SLS). Smoothed local symmetries represent both the bounding contour of a shape fragment and the region that it occupies. ...
Parsing and Generating English Using Commutative Transformations
(1982-05-01)
This paper is about an implemented natural language interface that translates from English into semantic net relations and from semantic net relations back into English. The parser and companion generator were implemented ...
Maximizing Rigidity: The Incremental Recovery of 3-D Structure from Rigid and Rubbery Motion
(1983-06-01)
The human visual system can extract 3-D shape information of unfamiliar moving objects from their projected transformations. Computational studies of this capacity have established that 3-D shape, can be extracted ...
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 ...
A Structural Approach to Analogy
(1983-11-01)
There are multiple sorts of reasoning by analogy between two domains; the one with which we are concerned is a type of contextual analogy. The purpose of this paper is to see whether two domains that look analogous ...
Implementation of a Theory for Inferring Surface Shape from Contours
(1982-08-01)
Human vision is adept at inferring the shape of a surface from the image of curves lying across the surface. The strongest impression of 3-D shape derives from parallel (but not necessarily equally spaced) contours. ...
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 ...
The Computational Problem of Motor Control
(1983-05-01)
We review some computational aspects of motor control. The problem of trajectory control is phrased in terms of an efficient representation of the operator connecting joint angles to joint torques. Efficient look-up ...
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 ...