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Proceedings Paper

Statistical Mechanics Models For Motion And Force Planning
Author(s): G. Rodriguez
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Paper Abstract

The models of statistical mechanics provide an alternative to the methods of classical mechanics more traditionally used in robotics. They have a potential to: improve analysis of object collisions; handle kinematic and dynamic contact interactions within the same framework; and reduce the need for perfect deterministic world model information. The statistical mechanics models characterize the state of the system as a probability density function (p.d.f.) whose time evolution is governed by a partial differential equation subject to boundary and initial conditions. The boundary conditions when rigid objects collide reflect the conservation of momentum. The models are being developed to embedd in remote semi-autonomous systems with a need to reason and interact with a multiobject environment.

Paper Details

Date Published: 1 February 1990
PDF: 11 pages
Proc. SPIE 1196, Intelligent Control and Adaptive Systems, (1 February 1990); doi: 10.1117/12.969906
Show Author Affiliations
G. Rodriguez, California Institute of Technology (United States)

Published in SPIE Proceedings Vol. 1196:
Intelligent Control and Adaptive Systems
Guillermo Rodriguez, Editor(s)

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