Showing papers on "Obstacle avoidance published in 1969"
TL;DR: A state variable formulation of the remote manipulation problem is presented, applicable to human supervised or autonomous computer-manipulators, and a method similar to Dynamic Programming is used to determine the optimal history.
Abstract: A state variable formulation of the remote manipulation problem is presented, applicable to human-supervised or autonomous computer-manipulators A discrete state vector, containing position variables for the manipulator and relevant objects, spans a quantized state space comprising many static configurations of objects and hand A manipulation task is a desired new state State transitions are assigned costs and are accomplished by commands: hand motions plus grasp, release, push, twist, etc In control theory terms the problem is to find the cheapest control history (if any) from present to desired state A method similar to dynamic programming is used to determine the optimal history The system is capable of obstacle avoidance, grasp rendezvous, incorporation of new sensor data, remembering results of previous tasks, and so on
70 citations
Proceedings Article•
07 May 1969TL;DR: In this paper, a state variable formulation of the remote manipulation problem is presented, applicable to human supervised or autonomous computer-manipulators, where a discrete state vector, containing position variables for the manipulator and relevant objects, spans a quantized state space comprising many static configurations of objects and hand.
Abstract: A state variable formulation of the remote manipulation problem is presented, applicable to human supervised or autonomous computer-manipulators A discrete state vector, containing position variables for the manipulator and relevant objects, spans a quantized state space comprising many static configurations of objects and hand A manipulation task is a desired new stateState transitions are assigned costs and are accomplished by commands: hand motions plus grasp, release, push, twist, etc In control theory terms the problem is to find the cheapest control history(if any) from present to desired state In theorem proving terms it is to combine predicates and axioms to prove (or disprove) the proposition "The task is possible " Each corresponds to finding the shortest path to the desired state A method similar to Dynamic Programming is used to determine the optimal history
The system is capable of obstacle avoidance, grasp rendezvous, incorporationof new sensor data, remembering results of previous tasks, and so on
4 citations
01 Jan 1969
TL;DR: The importance of the infantry soldier to combat is self-evident as discussed by the authors, and despite vast technological advances in military equipment and weapons systems, it still remains the sole responsibility of an infantryman to make the final assault and conquest of the enemy by occupying his home terrain.
Abstract: The importance of the infantry soldier to combat is self-evident. Thus, despite vast technological advances in military equipment and weapons systems, it still remains the sole responsibility of the infantryman to make the final assault and conquest of the enemy by occupying his home terrain.