Presidential Young Investigator Award: Robot Task Encoding and Control

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This project will explore the encoding and control of robotic tasks which require significant interaction with rather challenging environments involving unertainties of geometry, kinematics, and dynamics, including such complex tasks as throwing, catching, juggling, pouring liquids, and wielding hand tools. The approach will combine symbolic manipulation with numerical computation, and will evaluate the tradeoffs between the increased expressivity of the symbolic computations and the mathematically provable convergence of the numerical ones.