🚀 go-pugleaf

In article <1992Nov17.144824.26839@aio.jsc.nasa.gov> graves@drseus.jsc.nasa.gov (Philip Graves) writes:
>In general, you can only get a qualitative idea of what might happen
>from any model of this type. It is impossible to find the perfect model
>because the friction depends on a plethora of factors, including 
>everything from temperature to how long it has been since the floor 
>was mopped and waxed.

We use Denning robots and are faced with a similar nightmare.  One of
the things we're working on at the moment involves using visual homing
techniques to essentially recalibrate the robot at various points in
the environment, and coupling that with motion planning.  I'd have to
agree with the other posters in that the best we can hope for (at
least in the case of the Denning) is some bound on the slippage, and
to take advantage of that bound when we can.

						-CC

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Christopher Ian Connolly			connolly@cs.umass.edu
Laboratory for Perceptual Robotics		wa2ifi
University of Massachusetts at Amherst		Amherst, MA 01003