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25.1 ??. ???????????(robot)????????????????,????????????????????,??????????????????????????????;??????????????????????? . 25.2 ??:????????? . ?????????????????????,???????????????????????????????????????,??????????????????(???????)? . ???????? . ????????????????????????????????????,???1954?Geo

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25 1 25 2 25 3 25 4 25 5 25 6

25.1

25.2 :?

25.3 :?

25.4

25.5 :

25.6


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25.1

robot


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25.2


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1954George Devol150Jacquard


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mobots3000mailmobile


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Chernobyl


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/


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1969Quadrupedal Walking Machine11300Ralph Mosher


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25.3

end effectors


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actuatordegree of freedom


Locomotion

locomotion


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Manipulation

manipulation

manipulatorkinematics


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end effector


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24


Proprioception

Proprioception

4encodersmils


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25 1 25 2 25 3 25 4 25 5 25 6


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sonarSOund NAvigation and Ranging


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24domain constraints


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25.73-D


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25.4


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1960Shakey


Situated automata

situated automata

finite-state machine


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Rosenschein25.9feedforward circuit


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25.10Brooks1986


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25.5

3


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Cconfiguration space obstacleOC OF


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c1c2c1c1F25.11


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assembly planning


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recognizable set


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25.6

cell decomposition

skeletonizatoin

bounded-error planning

landmark-based navigation

online algorithms


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F

1.Fcells

2.adjacency graph

3.

4.


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F25.12

F-2-25.13


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skeletonizationskeleton


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1.SFSF

2.Fp


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fine-motion planningFMPFMPFMP


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landmark modellandmarksfield of influence


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25.22


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conditional plan13policy17online algorithm


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1.ll

2.QQl

3.QP0P0P0P0l


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