Legged robots that balance
Analog VLSI for robot path planning
Journal of VLSI Signal Processing Systems - Joint special issue on Analog VLSI computation; also see Analog Integrated Circuits Signal Process., Vol. 6, No. 1
Effective Multifingered Grasp Synthesis
Effective Multifingered Grasp Synthesis
Software mode changes for continuous motion tracking
IWSAS' 2000 Proceedings of the first international workshop on Self-adaptive software
Tracking human motion and actions for interactive robots
Proceedings of the ACM/IEEE international conference on Human-robot interaction
Learning to coordinate controllers-reinforcement learning on a control basis
IJCAI'97 Proceedings of the Fifteenth international joint conference on Artifical intelligence - Volume 2
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Is there a robust basis for dexterous manipulation tasks? This approach relies on reusable control laws to put together manipulation strategies on-line.A reasonable goal in the design of robot systems is to enhance the autonomy of manipulation strategies. Although dexterous hand/arm systems provide mechanical flexibility, they present formidable control challenges that are not amenable to traditional methods such as model- and behavior-based approaches (see the sidebar). This is primarily because these systems are highly redundant, are applied to tasks composed of multiple goals, operate in uncertain and unstructured environments, and must capture a broad range of control contexts.To address these issues, we developed a "bottom-up" approach that composes behavior on line from a set of reusable feedback control laws called a control basis. Literally, a control basis is set of elemental controllers that collectively span a task domain under linear composition. The interaction of the control basis and a composition policy determines the control actions of the composite controller. This controller inherits predictability directly from the robustness and stability of the elemental controllers. Each elemental controller independently regulates a subset of the system's degrees of freedom, producing a control structure with distributed computational and kinematic resources.We constructed a control basis and composition policies for reaching, grasping, and manipulation. Demonstrations of these tasks show that the approach scales well and the underlying controllers are reusable.