WELD%MIT-OZ@MIT-MC.ARPA (02/17/84)
From: "Daniel S. Weld" <WELD%MIT-OZ@MIT-MC.ARPA> [Forwarded from the MIT-OZ bboard by SASW@MIT-MC.] [I am uncertain as to the interest of AIList readers in robotics, VLSI and CAD/CAM design, graphics, and other CS-related topics. My current policy is to pass along material relating to planning and high-level reasoning. Readers with strong opinions for or against such topics should write to AIList-Request@SRI-AI. -- KIL] AUTOMATIC SYNTHESIS OF FINE-MOTION STRATEGIES FOR ROBOTS Tomas Lozano Perez The use of force-based compliant motions enables robots to carry out tasks in the presence of significant sensing and control errors. It is quite difficult, however, to discover a strategy of such motions to achieve a task. Furthermore, the choice of motions is quite sensitive to details of geometry and to error characteristics. As a result, each new task presents a brand new and difficult problem. These factors motivate the need for automatic synthesis for compliant motions. In this talk I will describe a formal approach to the synthesis of compliant motion strategies from geometric description of assembly operations. (This is joint work [no pun intended -- KIL] with Matt Mason of CMU and Russ Taylor of IBM)