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dc.contributor.authorWalker, Ian D.
Cavallaro, Joseph R.
Leuschen, Martin L. 2012-05-29T16:46:13Z 2012-05-29T16:46:13Z 1999-05-01
dc.identifier.citation I. D. Walker, J. R. Cavallaro and M. L. Leuschen, "Keeping the Analog Genie in the Bottle: A Case for Digital Robots," 1999.
dc.description.abstract In this paper, we consider the case for adopting a truly 'digital' type of robot, which would evolve between a discrete and finite set of states. We adopt the point of view that the advantages of traditional robotic evolution (over the full range of a continuous domain) are often negated by complexities associated with the continuous world. The types of discrete robots discussed in this paper would keep this unwanted continuous-time 'genie' in a 'box' of discrete 'steps' during its operation. One distinct advantage of this philosophy is that a formal logical analysis can then be applied to the digital robots, since discrete-time models now correctly and completely model the robot behavior. We argue that there are significant benefits to this strategy in numerous cases, especially with respect to fault detection and fault tolerance. However, there are also disadvantages - in order to guarantee digital behavior, constraints on the robot's operations are imposed. Essentially, we gain formality of digital analysis at the expense of precision of continuous movement. Using an analogy to digital electronics, we discuss ways in which the development of digital robots could revolutionize certain aspects of robotics.
dc.description.sponsorship National Science Foundation
dc.description.sponsorship U. S. Department of Energy
dc.language.iso eng
dc.publisher IEEE
dc.subjectDigital robots
Fault Tolerance
Fault Detection
dc.title Keeping the Analog Genie in the Bottle: A Case for Digital Robots
dc.type Conference paper Center for Multimedia Communication
dc.citation.location Detroit, Michigan
dc.citation.conferenceName IEEE International Conference on Robotics and Automation
dc.citation.conferenceDate 1999
dc.type.dcmi Text
dc.type.dcmi Text
dc.citation.firstpage 1063
dc.citation.lastpage 1070

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  • CMC Publications [268]
    Publications by Rice Faculty and graduate students in multimedia communications
  • ECE Publications [1278]
    Publications by Rice University Electrical and Computer Engineering faculty and graduate students

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