Relay-Version: version B 2.10 5/3/83; site utzoo.UUCP
Path: utzoo!watmath!clyde!floyd!harpo!seismo!hao!hplabs!sri-unix!WELD%MIT-OZ@MIT-MC.ARPA
From: WELD%MIT-OZ@MIT-MC.ARPA
Newsgroups: net.ai
Subject: Revolving Seminar
Message-ID: <16838@sri-arpa.UUCP>
Date: Fri, 17-Feb-84 15:14:00 EST
Article-I.D.: sri-arpa.16838
Posted: Fri Feb 17 15:14:00 1984
Date-Received: Fri, 24-Feb-84 02:03:05 EST
Lines: 28

From:  "Daniel S. Weld" 

[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)