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Now showing items 61-70 of 76
Enhancing the Dexterity of a Robot Hand Using Controlled Slip
(1987-05-01)
Humans can effortlessly manipulate objects in their hands, dexterously sliding and twisting them within their grasp. Robots, however, have none of these capabilities, they simply grasp objects rigidly in their end ...
ONTIC: A Knowledge Representation System for Mathematics
(1987-07-01)
Ontic is an interactive system for developing and verifying mathematics. Ontic's verification mechanism is capable of automatically finding and applying information from a library containing hundreds of mathematical ...
Principle-Based Parsing
(1987-06-01)
During the past few years, there has been much discussion of a shift from rule-based systems to principle-based systems for natural language processing. This paper outlines the major computational advantages of ...
Roles of Knowledge in Motor Learning
(1987-02-01)
The goal of this thesis is to apply the computational approach to motor learning, i.e., describe the constraints that enable performance improvement with experience and also the constraints that must be satisfied by ...
Analysis and Control of Robot Manipulators with Kinematic Redundancy
(1987-05-01)
A closed-form solution formula for the kinematic control of manipulators with redundancy is derived, using the Lagrangian multiplier method. Differential relationship equivalent to the Resolved Motion Method has been ...
A Systems Approach to the Torque Control of a Permanent Magnet Brushless Motor
(1987-08-01)
Many approaches to force control have assumed the ability to command torques accurately. Concurrently, much research has been devoted to developing accurate torque actuation schemes. Often, torque sensors have been ...
A Partial Mechanical Design Compiler
(MIT Artificial Intelligence Laboratory, 1987-02)
I have implemented a simple "mechanical design compiler", that is a program which can convert high-level descriptions of a mechanical design into detail descriptions. (Human interaction is sometimes required.) The program ...
MIT Mobile Robots - What's Next?
(MIT Artificial Intelligence Laboratory, 1987-11)
The MIT Mobile Robot Project began in January of 1985 with the objective of building machines that could operate autonomously and robustly in dynamically changing environments. We now have four working robots, each ...
Planning is Just a Way of Avoiding Figuring Out What To Do Next
(MIT Artificial Intelligence Laboratory, 1987-09)
The idea of planning and plan execution is just an intuition based decomposition. There is no reason it has to be that way. Most likely in the long term, real empirical evidence from systems we know to be built that way ...
The Condor Programmer's Manual - Version II
(MIT Artificial Intelligence Laboratory, 1987-07)
This is the CONDOR programmer's manual, that describes the hardware and software that form the basis of the real-time computational architecture built originally for the Utah-MIT hand. The architecture has been used ...