Departmental Papers (ESE)

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Abstract

This paper is concerned with the parts’ moving problem based on an event-driven planning and control. We are interested in developing feedback based approaches to the automatic generation of actuator commands that cause the robot to move a set of parts from an arbitrary initial disassembled configuration to a specif ed final configuration. In the Phase I of this project, a composite algorithm that reactively switches between different feedback controllers has been shown to induce a noncooperative game being played among the parts being manipulated. This paper describes experimental results with EDAR - Event-Driven Assembler Robot - developed for moving parts based on feedback techniques.

For more information: Kod*Lab

Document Type

Conference Paper

Subject Area

GRASP, Kodlab

Date of this Version

4-2000

Comments

BibTeX entry

@inproceedings{author-conference-2000, author = {C. Serkan Karagoz and H. Isil Bozma}, title = {Event Driven Parts Moving in 2D Endogenous Environments}, booktitle = {Proceedings of the IEEE Conference on Robotics and Automation}, year = {2000}, address = {San Francisco, USA}, month = {April}, }

This research is supported by the NSF under grant INT-9819890. The first two
authors have been supported in part by n’jsflAK MSAG 65–1995 and Bogazici
University Fund #99HA201. The third author has been supported in part by the
NSF under grant 9510673. We gratefully acknowledge the contributions and
assiduous work of Ihsan Hover to mechanical design and implementation.

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Date Posted: 21 February 2014

This document has been peer reviewed.