Tagged potential fields: An approach to specification of complex manipulator configurations

@article{Lyons1986TaggedPF,
  title={Tagged potential fields: An approach to specification of complex manipulator configurations},
  author={D. M. Lyons},
  journal={Proceedings. 1986 IEEE International Conference on Robotics and Automation},
  year={1986},
  volume={3},
  pages={1749-1754}
}
This paper suggests a solution to the specification problem inherent in writing programs for manipulators with many degrees of freedom. It introduces a mechanism called tagged potential fields, which can be used to economically specify a complex manipulator configuration. Some examples are demonstrated for preshaping a dextrous hand, and some of the possible future applications previewed. 

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