Departmental Papers (ESE)


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


Publication Source

Sixth Yale Workshop on Adaptive and Learning Systems


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.

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.