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Empirical verification of fine-motion planning theories

  • Chapter 11 Fine-Motion Planning and Control
  • Conference paper
  • First Online:
Experimental Robotics IV

Part of the book series: Lecture Notes in Control and Information Sciences ((LNCIS,volume 223))

Abstract

Successful robot systems must employ actions that are robust in the face of task uncertainty. Toward this end, Lozano-Pérez, 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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References

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Author information

Authors and Affiliations

  1. Sandia National Laboratories, Intelligent Systems and Robotics Center, 87185, Albuquerque, NM

    Randy C. Brost

  2. Department of Computer Science, Tulane University, 70118, New Orleans, LA

    Alan D. Christiansen

Authors
  1. Randy C. Brost
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  2. Alan D. Christiansen
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Editor information

Oussama Khatib J. Kenneth Salisbury

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© 1997 Springer-Verlag London Limited

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Brost, R.C., Christiansen, A.D. (1997). Empirical verification of fine-motion planning theories. In: Khatib, O., Salisbury, J.K. (eds) Experimental Robotics IV. Lecture Notes in Control and Information Sciences, vol 223. Springer, Berlin, Heidelberg. https://doi.org/10.1007/BFb0035237

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  • DOI: https://doi.org/10.1007/BFb0035237

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  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-76133-4

  • Online ISBN: 978-3-540-40942-7

  • eBook Packages: Springer Book Archive

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