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Generating Compliant Motion of Objects with an Articulated Hand
(1985-06-01)
The flexibility of the robot is the key to its success as a viable aid to production. Flexibility of a robot can be explained in two directions. The first is to increase the physical generality of the robot such that ...
A Concurrent Smalltalk Compiler for the Message-Driven Processor
(1988-05-01)
This thesis describes Optimist, an optimizing compiler for the Concurrent Smalltalk language developed by the Concurrent VLSI Architecture Group. Optimist compiles Concurrent Smalltalk to the assembly language of the ...
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 ...
Modeling Robot Dynamic Performance for Endpoint Force Control
(1988-09-01)
This research aims to understand the fundamental dynamic behavior of servo-controlled machinery in response to various types of sensory feedback. As an example of such a system, we study robot force control, a scheme ...
The Use of Grouping in Visual Object Recognition.
(1988-01-01)
The report describes a recognition system called GROPER, which performs grouping by using distance and relative orientation constraints that estimate the likelihood of different edges in an image coming from the same ...
Boundaries and Topological Algorithms
(1988-09-01)
This thesis develops a model for the topological structure of situations. In this model, the topological structure of space is altered by the presence or absence of boundaries, such as those at the edges of objects. ...
Task-Level Robot Learning
(1988-08-01)
We are investigating how to program robots so that they learn from experience. Our goal is to develop principled methods of learning that can improve a robot's performance of a wide range of dynamic tasks. We have ...
Applications of Circular Array Sensors
(MIT Artificial Intelligence Laboratory, 1980-04)
The application of the Reticon RO-64 annular photo-diode array to the task of optical tracking of special targets, direct optical focusing, and automatic printed circuit board inspection were studied. In order to facilitate ...
A Proposal for Sniffer: a System that Understands Bugs
(MIT Artificial Intelligence Laboratory, 1980-07)
This paper proposes an interactive debugging aid that exhibits a deep understanding of a narrow class of bugs. This system, called Sniffer, will be able to find and identify errors, and explain them in terms which are ...