Browsing AI Memos (1959 - 2004) by Author "Lozano-Perez, Tomas"
Now showing items 1-12 of 12
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An Approach to Automatic Robot Programming
(1985-04-01)In this paper we propose an architecture for a new task-level system, which we call TWAIN. Task-level programming attempts to simplify the robot programming process but requiring that the user specify only goals for ... -
Automatic Planning of Manipulator Transfer Movements
(1980-12-01)This paper deals with the class of problems that involve finding where to place or how to move a solid object in the presence of obstacles. The solution to this class of problems is essential to the automatic planning ... -
Automatic Synthesis of Fine-Motion Strategies for Robots
(1983-12-01)The use of 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 ... -
Model-Based Recognition and Localization from Sparse Range or Tactile Data
(1983-08-01)This paper discusses how local measurements of three-dimensional positions and surface normals (recorded by a set of tactile sensors, or by three-dimensional range sensors), may be used to identify and locate objects, ... -
On Multiple Moving Objects
(1986-05-01)This paper explores the motion planning problem for multiple moving objects. The approach taken consists of assigning priorities to the objects, then planning motions one object at a time. For each moving object, the ... -
Parsing Intensity Profiles
(1975-05-01)Much low-level vision work in AI deals with one-dimensional intensity profiles. This paper describes PROPAR, a system that allows a convenient and uniform mechanism for recognizin such profiles. PROPAR is a modified ... -
Recognition and Localization of Overlapping Parts from Sparse Data
(1985-06-01)This paper discusses how sparse local measurements of positions and surface normals may be used to identify and locate overlapping objects. The objects are modeled as polyhedra (or polygons) having up to six degreed ... -
Robot Programming
(1982-12-01)The industrial robot's principal advantage over traditional automation is programmability. Robots can perform arbitrary sequences of pre-stored motions or of motions computed as functions of sensory input. This paper ... -
Robot Programming
(1982-12-01)The industrial robot's principal advantage over traditional automation is programmability. Robots can perform arbitrary sequences of pre-stored motions or of motions computed as functions of sensory input. This paper ... -
A Simple Motion Planning Algorithm for General Robot Manipulators
(1986-06-01)This paper presents a simple and efficient algorithm, using configuration space, to plan collision-free motions for general manipulators. We describe an implementation of the algorithm for manipulators made up of ... -
Spatial Planning: A Configuration Space Approach
(1980-12-01)This paper presents algorithms for computing constraints on the position of an object due to the presence of obstacles. This problem arises in applications which require choosing how to arrange or move objects among ... -
A Subdivision Algorithm in Configuration Space for Findpath with Rotation
(1982-12-01)A hierarchical representation for configuration space is presented, along with an algorithm for searching that space for collision-free paths. The detail of the algorithm are presented for polygonal obstacles and a ...
