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Automatic Synthesis of Fine-Motion Strategies for Robots
Open accessAbstract
Active compliance enables robots to carry out tasks in the presence of significant sensing and control errors. Compliant motions are quite difficult for humans to specify, however. Furthermore, robot programs are quite sensitive to details of geometry and to error characteristics and must, therefore, be constructed anew for each task. These factors motivate the search for automatic synthesis tools for robot program ming, especially for compliant motion. This paper describes a formal approach to the synthesis of compliant-motion strategies from geometric descriptions of assembly operations and explicit estimates of errors in sensing and control. A key aspect of the approach is that it provides criteriafor correct ness of compliant-motion strategies.
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Citations
Cites
Principles of Artificial Intelligence
Nilsson, N. J. (1982) · doi:10.1007/978-3-662-09438-9 · Cited by 3,457
Cited by
Nonholonomic motion planning: steering using sinusoids
Murray, R. M., & Sastry, S. S. (1993) · IEEE Transactions on Automatic Control · doi:10.1109/9.277235 · Cited by 1,771
Brooks, R. A. (1991) · Science · doi:10.1126/science.253.5025.1227 · Cited by 752
Model-based recognition in robot vision
Chin, R. T., & Dyer, C. R. (1986) · ACM Computing Surveys · doi:10.1145/6462.6464 · Cited by 567
Sequential Composition of Dynamically Dexterous Robot Behaviors
Burridge, R. R., Rizzi, A. A., & Koditschek, D. E. (1999) · The International Journal of Robotics Research · doi:10.1177/02783649922066385 · Cited by 446
50 Years of object recognition: Directions forward
Andreopoulos, A., & Tsotsos, J. K. (2013) · Computer Vision and Image Understanding · doi:10.1016/j.cviu.2013.04.005 · Cited by 347
Metadata
- Authors
- Lozano-Pérez, T., Mason, M. T., & Taylor, R. H.
- Venue
- The International Journal of Robotics Research
- Publisher
- SAGE Publications
- Published
- 1984-03
- Volume
- 3
- Issue
- 1
- Pages
- 3-24
- ISSN
- 0278-3649 (ISSN-L)
- 1741-3176
- OpenAlex
- W2034469604
- Cited by
- 898
- References
- 1
- FWCI
- 49.37
- Type
- journal article
- Language
- en
- Open access
- green
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- Lozano-Pérez, T., Mason, M. T., & Taylor, R. H. (1984). Automatic Synthesis of Fine-Motion Strategies for Robots. The International Journal of Robotics Research. https://doi.org/10.1177/027836498400300101
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