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

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.

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}, }

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Date Posted: 25 July 2014

This document has been peer reviewed.