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Automatic Assembly Planning and Control via Potential Functions

Proceedings of the IEEE International Conference on Intelligent Robots and Systems, November 1991

Louis L. Whitcomb and D. E. Koditschek
Yale University
Full PDF | Penn ScholarlyCommons | Web Link

Abstract
       An approach to the problem of automated assembly planning and control using artificial potential functions is described. A simple class of tasks, 2D sphere assemblies, is examined. A constructive theory for the planning and control of this class of tasks is presented. Computer simulations demonstrate that the approach may provide surprisingly good performance.
BibTeX entry
@inproceedings{whitcomb-icra-1991,
   title      = {Comparative Experiments with a New Adaptive Controller for Robot Arms},
   author     = {L.L. Whitcomb, A.A. Rizzi and D.E. Koditschek},
   booktitle  = {Intelligent Robots and Systems '91. 'Intelligence for Mechanical Systems, Proceedings IROS '91. IEEE/RSJ International Workshop on},
   year       = {1991},
   month      = {November},
   pages      = {17-23 vol.1},
   doi        = {10.1109/IROS.1991.174420}
}

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