Task Encoding for Autonomous Machines: The Assembly Problem

Loading...
Thumbnail Image
Penn collection
Departmental Papers (ESE)
General Robotics, Automation, Sensing and Perception Laboratory
Kod*lab
Degree type
Discipline
Subject
GRASP
Kodlab
Electrical and Computer Engineering
Engineering
Systems Engineering
Funder
Grant number
License
Copyright date
Distributor
Related resources
Contributor
Abstract

Assembly problems require that a robotic system with fewer actuated degrees of freedom manipulate an environment with a greater number of unactuated degrees of freedom. This paper explores the possibilities of combining a navigation plan for an “animated” version of the environment with a juggling plan that mediates between the conflicting subgoals of that unconstrained world. The hope is to develop a formalism for constructing globally stabilizing feedback controllers for the nonholonomically constrained dynamical systems that represent the underlying problem.

Advisor
Date of presentation
1990-08-17
Conference name
Departmental Papers (ESE)
Conference dates
2023-05-17T09:04:15.000
Conference location
Date Range for Data Collection (Start Date)
Date Range for Data Collection (End Date)
Digital Object Identifier
Series name and number
Volume number
Issue number
Publisher
Publisher DOI
Journal Issue
Comments
Reprinted from SixthYale Workshop on Adaptive and Learning Systems, August 1990. NOTE: At the time of publication, author Daniel Koditschek was affiliated with Yale University. Currently, he is a faculty member in the Department of Electrical and Systems Engineering at the University of Pennsylvania.
Recommended citation
@inproceedings{koditschek-workshop-1990, author = {D.E. Koditschek}, title = {Task Encoding for Autonomous Machines: The Assembly Problem}, booktitle = {Sixth Yale Workshop on Adaptive and Learning Systems}, year = {1990}, address = {Center for System Science, Yale University, New Heaven, CT}, month = {August}, }
Collection