BibTeX
@TECHREPORT{Goldberg90stochasticplans,
author = {Kenneth Yigael Goldberg},
title = {Stochastic Plans for Robotic Manipulation},
institution = {},
year = {1990}
}
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Abstract
Geometric uncertainty is unavoidable when programming robots for physical applications. We propose a stochastic framework for manipulation planning where plans are ranked on the basis of expected cost. That is, we express the desirability of states and actions with a cost function and describe uncertainty with probability distributions. We illustrate the approach with a new design for a programmable parts feeder, a mechanism that orients two-dimensional parts using a sequence of open-loop mechanical motions. We present a planning algorithm that accepts an n-sided polygonal part as input and, in time O(n²), generates a stochastically optimal plan for orienting the part.
