Departmental Papers (ESE)



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



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.



Date Posted: 21 February 2014

This document has been peer reviewed.