Empirical verification of fine-motoion planning theories

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Description

Successful robot systems must employ actions that are robust in the face of task uncertainty. Toward this end, Lozano-Perez, Mason, and Taylor developed a model of manipulation tasks that explicitly considers task uncertainty. In this paper we study the utility of this model applied to real-world tasks. We report the results of two experiments that highlight the strengths and weaknesses of the LMT approach. The first experiment showed that the LMT formalism can successfully plan solutions for a complex real-world task. The second experiment showed a task that the formalism is fundamentally incapable of solving.

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6 p.

Creation Information

Brost, R. C. & Christiansen, A. D. July 1995.

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This article is part of the collection entitled: Office of Scientific & Technical Information Technical Reports and was provided by UNT Libraries Government Documents Department to Digital Library, a digital repository hosted by the UNT Libraries. More information about this article can be viewed below.

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  • Brost, R. C. Sandia National Labs., Albuquerque, NM (United States)
  • Christiansen, A. D. Tulane Univ., New Orleans, LA (United States). Dept. of Computer Science

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  • Sandia National Laboratories
    Publisher Info: Sandia National Labs., Albuquerque, NM (United States)
    Place of Publication: Albuquerque, New Mexico

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Description

Successful robot systems must employ actions that are robust in the face of task uncertainty. Toward this end, Lozano-Perez, Mason, and Taylor developed a model of manipulation tasks that explicitly considers task uncertainty. In this paper we study the utility of this model applied to real-world tasks. We report the results of two experiments that highlight the strengths and weaknesses of the LMT approach. The first experiment showed that the LMT formalism can successfully plan solutions for a complex real-world task. The second experiment showed a task that the formalism is fundamentally incapable of solving.

Physical Description

6 p.

Notes

OSTI as DE95013869

Source

  • ISER 95: 4. international symposium on experimental bobotics, Stanford, CA (United States), 30 Jun - 2 Jul 1995

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  • Other: DE95013869
  • Report No.: SAND--95-1192C
  • Report No.: CONF-9506196--1
  • Grant Number: AC04-94AL85000
  • Office of Scientific & Technical Information Report Number: 76365
  • Archival Resource Key: ark:/67531/metadc722895

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Office of Scientific & Technical Information Technical Reports

Reports, articles and other documents harvested from the Office of Scientific and Technical Information.

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Creation Date

  • July 1995

Added to The UNT Digital Library

  • Sept. 29, 2015, 5:31 a.m.

Description Last Updated

  • Nov. 20, 2015, 1:16 p.m.

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Brost, R. C. & Christiansen, A. D. Empirical verification of fine-motoion planning theories, article, July 1995; Albuquerque, New Mexico. (digital.library.unt.edu/ark:/67531/metadc722895/: accessed November 15, 2018), University of North Texas Libraries, Digital Library, digital.library.unt.edu; crediting UNT Libraries Government Documents Department.