
Departmental Papers (ESE)
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.
Document Type
Conference Paper
Subject Area
GRASP, Kodlab
Date of this Version
8-17-1990
Publication Source
Sixth Yale Workshop on Adaptive and Learning Systems
Bib Tex
@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}, }
Date Posted: 25 July 2014
This document has been peer reviewed.
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.