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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 ...
Spotlight on Attention
(1985-04-01)
We review some recent psychophysical, psychological and anatomical data which highlight the important role of attention in visual information processing, and discuss the evidence for a serial spotlight of attention. ...
Reification without Evaluation
(1988-06-01)
Constructing self-referential systems, such as Brian Smith's 3-Lisp language, is actually more straightforward than you think. Anyone can build an infinite tower of processors (where each processor implements the ...
Principle-Based Parsing for Machine Translation
(1987-12-01)
Many syntactic parsing strategies for machine translation systems are based entirely on context-free grammars. These parsers require an overwhelming number of rules; thus, translation systems using rule-based parsers ...
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 ...
Dimensionality-Reduction Using Connectionist Networks
(1987-01-01)
This paper presents a method for using the self-organizing properties of connectionist networks of simple computing elements to discover a particular type of constraint in multidimensional data. The method performs ...
Understanding Bandwidth Limitations in Robot Force Control
(1987-08-01)
This paper provides an analytical overview of the dynamics involved in force control. Models are developed which demonstrate, for the one-axis explicit force control case, the effects on system closed-loop bandwidth ...
Recognizing Rigid Objects by Aligning Them with an Image
(1987-01-01)
This paper presents an approach to recognition where an object is first {\\it aligned} with an image using a small number of pairs of model and image features, and then the aligned model is compared directly against ...
A Direct Method for Locating the Focus of Expansion
(1987-01-01)
We address the problem of recovering the motion of a monocular observer relative to a rigid scene. We do not make any assumptions about the shapes of the surfaces in the scene, nor do we use estimates of the optical ...
Ambiguities of a Motion Field
(1987-01-01)
We study the conditions under which a perspective motion field can have multiple interpretations. Furthermore, we show that in most cases, the ambiguity in the interpretation of a motion field can be resolved by imposing ...