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Task Encoding for Autonomous Machines: The Assembly Problem

Sixth Yale Workshop on Adaptive and Learning Systems, August 1990

D. E. Koditschek
Yale University
Full PDF | Penn Scholarly Commons

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.
BibTeX entry
@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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