Departmental Papers (ESE)


An approach to the problem of automated assembly planning and control using artificial potential functions is described. A simple class of tasks, 2D sphere assemblies, is examined. A constructive theory for the planning and control of this class of tasks is presented. Computer simulations demonstrate that the approach may provide surprisingly good performance.

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

November 1991


Copyright 1991 IEEE. Reprinted from Proceedings of the IEEE/RSJ International Workshop on Intelligent Robots and Systems, Intelligence for Mechanical Systems, Volume 1, 1991, pages 17-23.

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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.



Date Posted: 06 June 2008

This document has been peer reviewed.